Kinematics, dynamics, and load distribution analysis of a 4-PPPS redundantly actuated parallel manipulator. (January 2022)

• Record Type: Journal Article
• Authors: Liu, Zhaoyang; Tao, Rui; Fan, Junfeng; Wang, Zhe; Jing, Fengshui; Tan, Min
• Is Part Of: Mechanism and machine theory. Volume 167(2022)
• Publication Date: 2022-01
• Subjects: Redundant parallel manipulator -- Kinematics -- Dynamics -- Screw theory -- Load distribution; Machine theory -- Periodicals; Machinery -- Periodicals; Machines -- Périodiques; Génie mécanique -- Périodiques; Machine theory; Machinery; Periodicals; 621.81
• DOI: 10.1016/j.mechmachtheory.2021.104494
• Languages: English
• ISSNs: 0094-114X

Abstract

Abstract: In this paper, the kinematics, dynamics, and load distribution algorithm of a 4-PPPS redundantly actuated parallel manipulator are investigated with the screw theory. For the forward kinematic analysis, we propose the major joint set, a minimum set for determining the kinematic and dynamic state of the mobile platform with six specially selected prismatic joints. The reciprocity of screws is applied for simplifying the derivation of the Jacobian matrix. The driving forces of the active joints are solved with the principle of virtual work for the non-redundant and the fully redundant actuation mode with the major joint set. For the fully redundant actuation mode, to avoid joint overload resulted from the conventional least-norm load distribution solution, to smooth the force transition, and to increase the positioning accuracy of the manipulator, a load distribution algorithm based on Lagrange optimization is proposed. These effects are achieved by means including reducing the deformations of the z-axis links and considering the sensitivity and elasticity of major joints. At last, the effectiveness of the modeling method and the proposed algorithm is verified with a case study. Highlights: Kinematics and dynamics analysis with the screw theory. Determination of the major joint set for the kinematics and dynamics analysis. Solve the joint force outputs for non-redundant and fully redundant mode. Load distribution algorithm for avoiding joint overload and improving precision.