Name
Title | ||
|---|---|---|
Performance Analysis and Application of a Redundantly Actuated Parallel Manipulator for Milling |
Abstract | ||
|---|---|---|
This paper deals with the performance analysis of a 3-degree-of-freedom (3-DOF) planar parallel manipulator with actuation redundancy. Closed-form solutions are developed for both the inverse and direct kinematics about the redundant parallel manipulator. In performance analysis phase, the dexterity is analyzed, three kinds of singularities are investigated, and the stiffness is estimated. Compared with the corresponding non-redundant parallel manipulator with the redundant link removed, the redundantly actuated one has better dexterity, litter singular configurations and higher stiffness. The redundantly actuated parallel manipulator was applied to the design of a 4-DOF hybrid machine tool which also includes a feed worktable to demonstrate its applicability. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/s10846-007-9159-4 | Journal of Intelligent and Robotic Systems |
Keywords | Field | DocType |
Parallel manipulator,Actuation redundancy,Hybrid machine tool | Inverse,Parallel manipulator,Kinematics,Planar parallel manipulator,Control theory,Stiffness,Control engineering,Redundancy (engineering),Gravitational singularity,Engineering,Machine tool | Journal |
Volume | Issue | ISSN |
50 | 2 | 0921-0296 |
Citations | PageRank | References |
6 | 0.63 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jun Wu | 1 | 42 | 12.27 |
| Jinsong Wang | 2 | 208 | 31.68 |
| Tiemin Li | 3 | 45 | 7.58 |
| Liping Wang | 4 | 99 | 22.58 |