Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance

2015 ◽  
Vol 83 (1-2) ◽  
pp. 631-658 ◽  
Author(s):  
Dong Liang ◽  
Yimin Song ◽  
Tao Sun ◽  
Gang Dong
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator ◽  
Dynamic Performance ◽  
Redundantly Actuated

Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator

2018 ◽  
Vol 16 (3) ◽  
pp. 274-285 ◽  
Author(s):  
Hai-Qiang Zhang ◽  
Hai-Rong Fang ◽  
Bing-Shan Jiang ◽  
Shuai-Guo Wang
Keyword(s):  
Performance Evaluation ◽  
Parallel Manipulator ◽  
Dynamic Performance ◽  
Redundantly Actuated

Integrated Kinematic Calibration for All the Parameters of a Planar 2DOF Redundantly Actuated Parallel Manipulator

2009 ◽  
Vol 1 (3) ◽  
Author(s):  
Chunshi Feng ◽  
Shuang Cong ◽  
Weiwei Shang
Keyword(s):  
Parallel Manipulator ◽  
Closed Loop ◽  
Open Loop ◽  
Kinematic Calibration ◽  
Constraint Equations ◽  
Integrated Method ◽  
Uniqueness Of The Solution ◽  
Redundantly Actuated ◽  
Loop Constraint ◽  
Two Degree Of Freedom

In this paper, the kinematic calibration of a planar two-degree-of-freedom redundantly actuated parallel manipulator is studied without any assumption on parameters. A cost function based on closed-loop constraint equations is first formulated. Using plane geometry theory, we analyze the pose transformations that bring infinite solutions and present a kinematic calibration integrated of closed-loop and open-loop methods. In the integrated method, the closed-loop calibration solves all the solutions that fit the constraint equations, and the open-loop calibration guarantees the uniqueness of the solution. In the experiments, differential evolution is applied to compute the solution set, for its advantages in computing multi-optima. Experimental results show that all the parameters involved are calibrated with high accuracy.

Atlas based kinematic optimum design of the Stewart parallel manipulator

2014 ◽  
Vol 28 (1) ◽  
pp. 20-28 ◽  
Author(s):  
Zhufeng Shao ◽  
Xiaoqiang Tang ◽  
Liping Wang ◽  
Dengfeng Sun
Keyword(s):  
Optimum Design ◽  
Parallel Manipulator

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

2021 ◽  
Author(s):  
Haiying Wen ◽  
Ming Cong ◽  
Weiliang Xu ◽  
Zhisheng Zhang ◽  
Min Dai
Keyword(s):  
Optimal Design ◽  
Parallel Manipulator ◽  
Cam Mechanism ◽  
Redundantly Actuated

scholarly journals Dynamic model of a 3-DOF redundantly actuated parallel manipulator

2016 ◽  
Vol 13 (5) ◽  
pp. 172988141666279
Author(s):  
Tiemin Li ◽  
Shi Jia ◽  
Jun Wu
Keyword(s):  
Dynamic Model ◽  
Parallel Manipulator ◽  
Redundantly Actuated
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