Proceedings of the Advances in Materials, Machinery, Electrical Engineering (AMMEE 2017)

A Redundant Parallel Manipulator with Constrained Chains

Authors
Dongdong Wang, Xiankui Zhang, Biao Hou
Corresponding Author
Dongdong Wang
Available Online June 2017.
DOI
https://doi.org/10.2991/ammee-17.2017.156How to use a DOI?
Keywords
parallel manipulator, pseudo-inverse, optimization, inverse dynamics.
Abstract
This paper has designed and analyzed a kind of parallel manipulator with redundant actuators. The manipulator has different DOFs and motions comparing to conventional parallel manipulators, which is mainly used to simulate various position of heavy, large equipments (such as buses, trucks), due to the position of three constrained chains. In this paper, the conceive outline and a clear structure of this mechanism has been presented at first. By building up an effective kinematic model, the movements of the output platform are analyzed. In addition, the constraint equations are obtained in order to estimate the relationship between self-movement and driven motion. Furthermore, the kinematic and dynamic characteristics have been investigated with common method. Finally, for the redundant force, an optimal approach correlated with output direction is proposed to acquire better-proportioned results than other approaches.
Open Access
This is an open access article distributed under the CC BY-NC license.

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Proceedings
Advances in Materials, Machinery, Electrical Engineering (AMMEE 2017)
Part of series
Advances in Engineering Research
Publication Date
June 2017
ISBN
978-94-6252-350-0
ISSN
2352-5401
DOI
https://doi.org/10.2991/ammee-17.2017.156How to use a DOI?
Open Access
This is an open access article distributed under the CC BY-NC license.

Cite this article

TY  - CONF
AU  - Dongdong Wang
AU  - Xiankui Zhang
AU  - Biao Hou
PY  - 2017/06
DA  - 2017/06
TI  - A Redundant Parallel Manipulator with Constrained Chains
BT  - Advances in Materials, Machinery, Electrical Engineering (AMMEE 2017)
PB  - Atlantis Press
SN  - 2352-5401
UR  - https://doi.org/10.2991/ammee-17.2017.156
DO  - https://doi.org/10.2991/ammee-17.2017.156
ID  - Wang2017/06
ER  -