吉林大学学报(工学版) ›› 2017, Vol. 47 ›› Issue (4): 1138-1143.doi: 10.13229/j.cnki.jdxbgxb201704018

• Orginal Article • Previous Articles     Next Articles

Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy

XU Jin-kai1, 2, WANG Yu-tian1, ZHANG Shi-zhong3   

  1. 1.College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun 130022,China;
    2.National and Local Joint Engineering Laboratory of Precision Manufacturing and Measurement Techniques, Changchun University of Science and Technology, Changchun 130022,China;
    3.College of Mechanical Science and Engineering, Jilin University, Changchun 130022,China
  • Received:2017-02-19 Online:2017-07-20 Published:2017-07-20

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Abstract: The types of heavy-duty parallel mechanisms are not sufficient for industrial applications. A two degree of freedom (2DOF) heavy-duty parallel mechanism with actuation redundancy is proposed. The kinematics of the mechanism is analyzed and the dynamic model is derived using the principle of virtual work. The driving force is optimized based on the force optimization method. An evaluation method of the acceleration is given. The acceleration of the redundantly actuated parallel mechanism is compared with its corresponding non-redundant parallel mechanism. It is proved that the proposed parallel mechanism is useful for industry and the acceleration evaluation index is also helpful for the acceleration evaluation of other parallel mechanisms.

Key words: automatic control technology, parallel mechanism, principle of virtual work, dynamics, actuation redundancy, performance evaluation

CLC Number: 

  • TP242
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