The paper deals with the evaluation of acceleration of redundant and nonredundant parallel manipulators. The dynamic model of three degrees-of-freedom (3DOF) parallel manipulator is derived by using the virtual work principle. Based on the dynamic model, a measure is proposed for the acceleration evaluation of the redundant parallel manipulator and its nonredundant counterpart. The measure is designed on the basis of the maximum acceleration of the mobile platform when one actuated joint force is unit and other actuated joint forces are less than or equal to a unit force. The measure for evaluation of acceleration can be used to evaluate the acceleration of both redundant parallel manipulators and nonredundant parallel manipulators. Furthermore, the acceleration of the 4-PSS-PU parallel manipulator and its nonredundant counterpart are compared.
A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators
Manuscript received September 3, 2014; final manuscript received August 21, 2015; published online November 24, 2015. Assoc. Editor: Leila Notash.
- Views Icon Views
- Share Icon Share
- Cite Icon Cite
- Search Site
Wu, J., Zhang, B., and Wang, L. (November 24, 2015). "A Measure for Evaluation of Maximum Acceleration of Redundant and Nonredundant Parallel Manipulators." ASME. J. Mechanisms Robotics. April 2016; 8(2): 021001. https://doi.org/10.1115/1.4031500
Download citation file:
- Ris (Zotero)
- Reference Manager