Optimal design of a linkage-cam mechanism-based redundantly actuated parallel manipulator  

作　　者：Haiying WEN Zhisheng ZHANG Min DAI Ming CONG Weiliang XU 

机构地区：[1]School of Mechanical Engineering,Southeast University,Nanjing 211189,China [2]School of Mechanical Engineering,Dalian University of Technology,Dalian 116024,China [3]Department of Mechanical Engineering,The University of Auckland,Auckland 1142,New Zealand

出　　处：《Frontiers of Mechanical Engineering》2021年第3期451-467,共17页机械工程前沿（英文版）

基　　金：This work was supported by the National Natural Science Foundation of China(Grant Nos.51705063 and 51575078);the Natural Science Foundation of Jiangsu Province,China(Grant No.BK20190368).

摘　　要：A redundantly actuated parallel manipulator(RAPM)with mixed translational and rotational degrees of freedom(DOFs)is challenged for its dimensionally homogeneous Jacobian modeling and optimal design of architecture.In this paper,a means to achieve redundant actuation by adding kinematic constraints is introduced,which reduces the DOFs of the end-effector(EE).A generic dimensionally homogeneous Jacobian is developed for this type of RAPMs,which maps the generalized velocities of three points on the EE to the joint velocities.A new optimization algorithm derived from this dimension-ally homogeneous Jacobian is proposed for the optimal design of this type of RAPMs.As an example,this paper presents a spatial RAPM involving linkages and cam mechanisms.This RAPM has 4 DOFs and 6 translational actuations.The linkage lengths and the position of the universal joints of the RAPM are optimized based on the dimensionally homogeneous Jacobian.

关 键 词：REDUNDANT ACTUATION parallel MANIPULATOR linkage-cam mechanism JACOBIAN optimal design 

分 类 号：TH112.2[机械工程—机械设计及理论]