Research of driving force coordination mechanism in parallel manipulator with actuation redundancy and its performance evaluation

Liu, Xiaofei; Yao, Jiantao; Xu, Yundou; Zhao, Yongsheng

doi:10.1007/s11071-017-3706-8

Cited by 12 publications

(6 citation statements)

References 42 publications

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“…It represents the driving force adjustment capability of the redundantly actuated joint with respect to the nonredundantly actuated joint, and its magnitude is related to the motion trajectory of the end-effector of the manipulator. When the manipulator is under a hybrid force and position control, an excessive adjustment will lead to an increase in the adjustment error, which will cause the manipulator to generate greater internal forces, causing greater fluctuations in the control system [5]. From the above, it is necessary to avoid the excessive adjustment during the motion to enhance the driving force coordination of the manipulator.…”

Section: B Dynamic Analysis Of the Manipulatormentioning

confidence: 99%

“…The number of linearly independent drives in this type of manipulator is greater than the number of independent motion degrees of freedom of the manipulator. Compared with the conventional nonredundantly actuated parallel manipulator, the coupling between the drives of a redundantly actuated parallel manipulator is more complicated and requires higher coordination [5].…”

Section: Introductionmentioning

confidence: 99%

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Multi-Objective Trajectory Planning Method for a Redundantly Actuated Parallel Manipulator Under Hybrid Force and Position Control

Feng

Han

et al. 2020

IEEE Access

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A multi-objective trajectory planning method for redundantly actuated parallel manipulator under hybrid force and position control is proposed considering the coordination of its driving forces. Combining inverse kinematics analysis, the driving force coordination of the manipulator is analyzed using the virtual work principle. On this basis, the B-spline curve is used to plan the motion trajectory of the endeffector of the manipulator in the Cartesian space. Subsequently, the driving force coordination, total motion time, and maximum absolute value of the jerk impulse of the actuator are defined as objective functions, and a multi-objective optimization problem is solved using the multi-objective particle swarm algorithm (MOPSO). Finally, the potential optimal solution is selected by constructing a comprehensive optimal evaluation function. The trajectory simulation results verify that the trajectory planning method is effective and universal. INDEX TERMS Redundantly actuated parallel manipulator, trajectory planning, driving force coordination, multi-objective optimization.

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Section: B Dynamic Analysis Of the Manipulatormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Multi-Objective Trajectory Planning Method for a Redundantly Actuated Parallel Manipulator Under Hybrid Force and Position Control

Feng

Han

et al. 2020

IEEE Access

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“…The actuated force/torque has infinite sets of theoretical solutions, and can be actively allocated in practice according to various optimization goals. In order to evaluate the actuated force compatibility performance of active overconstrained parallel mechanism, two indicators are proposed: the actuated force compatibility rate and the compatibility factor [26]. It is worth to mention that additional research on analysis of active overconstrained mechanism is carried out in Refs.…”

Section: Introductionmentioning

confidence: 99%

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Guo

Zhao

Chen

et al. 2023

Chin. J. Mech. Eng.

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Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability, but its force analysis is complex and difficult because the mechanism system contains overconstraints. Considering the limb axial deformation, taking typical 2SS+P and 7-SS passive overconstrained mechanisms, 2SPS+P and 7-SPS active overconstrained mechanisms, and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples, a new force analysis method based on the idea of equivalent stiffness is proposed. The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations. The relationship between the constraint wrench magnitudes and the external force, limb stiffness is established. The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations. Here, the relationship between the magnitudes of the actuated wrenches and the external force, limb stiffness is investigated. Combining with the equivalent stiffness of the passive overconstrained mechanism, an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement, limb stiffness is explored. Finally, adaptability of the equivalent stiffness to overconstrained mechanisms is discussed, and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed. The research results provide a theoretical reference for the design, research and practical application of overconstrained mechanism.

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“…Pseudo-inverse method is utilized to distribute the actuated force/torque of the active overconstrained mechanism in [31], with minimum input force/torque of the system being the optimization goal. In order to evaluate the actuated force compatibility performance of active overconstrained parallel mechanism, two indicators are proposed: the actuated force compatibility rate and the compatibility factor [32]. It is worth to mention that additional research on analysis of active overconstrained mechanism is carried out in [33][34][35][36].…”

Section: Introductionmentioning

confidence: 99%

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Guo

Zhao

Chen

et al. 2021

Preprint

Self Cite

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Considering the limb axial deformation, taking typical 2SS + P and 7-SS passive overconstrained mechanisms, 2SPS + P and 7-SPS active overconstrained mechanisms, and 2SPS + P and 7-SPS passive-input overconstrained mechanisms as examples, a new force analysis method based on the idea of equivalent stiffness is proposed. The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations. The relationship between the constraint wrench magnitudes and the external force, limb stiffness is established. The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations. Here, the relationship between the magnitudes of the actuated wrenches and the external force, limb stiffness is investigated. Combining with the equivalent stiffness of the passive overconstrained mechanism, an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement, limb stiffness is explored. Finally, adaptability of the equivalent stiffness to overconstrained mechanisms is discussed, and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed.

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Research of driving force coordination mechanism in parallel manipulator with actuation redundancy and its performance evaluation

Cited by 12 publications

References 42 publications

Multi-Objective Trajectory Planning Method for a Redundantly Actuated Parallel Manipulator Under Hybrid Force and Position Control

Multi-Objective Trajectory Planning Method for a Redundantly Actuated Parallel Manipulator Under Hybrid Force and Position Control

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

Force Analysis of the Overconstrained Mechanisms Based on Equivalent Stiffness Considering Limb Axial Deformation

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