Stability Analysis for a Planar Parallel Manipulator with the Capability of Self-Coordinating the Load Distribution  

作　　者：KONG Lingyu WANG Hao ZHANG Pu ZHAO Yong CHEN Genliang ZHAO Longhai 

机构地区：[1]State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University [2]Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures, Shanghai Jiao Tong University

出　　处：《Chinese Journal of Mechanical Engineering》2015年第4期821-829,共9页中国机械工程学报（英文版）

基　　金：Supported by National Basic Research Program of China(973 Program,Grant No.2014CB046600);National Natural Science Foundation of China(Grant No.11472172);National Science Foundation for the Youth(Grant No.51305256);Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20130073110039)

摘　　要：Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.

关 键 词：redundantly actuated parallel manipulator load distribution STABILITY 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]