Performance analysis of a redundantly actuated parallel manipulator with suitable constraint branch
ZHANG Haiqiang
FANG Hairong
Abstract：This paper presents a novel 1T2R three-degree of freedom (DOF) redundantly actuated 4-PUS-UP parallel manipulator with suitable constraint branch that can be employed to high-speed milling for large heterogeneous complex structural component in aerospace field.Firstly,the inverse kinematics of the parallel manipulator is carried out,and driving and constraint Jacobian matrix are established respectively,and then the homogeneous dimensional Jacobain matrix is obtained.Secondly,the condition number,motion/force transmission performance and stiffness index are involved.Through some numerical examples,atlas of the performance indices between 3-PUS-UP and redundantly actuated parallel manipulator are depicted,and the global performance index are calculated.The results show that the proposed manipulator in this paper has more superior kinematic performance than the 3-PUS-UP parallel manipulator and the former owns good prospect in engineering application.
Keywords：parallel manipulatorJacobian matrixcondition numbermotion/force transmission performancestiffness
Publication Date：2018-01-01
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 133-138 )