The solution of tension distributions is infinite for cable-driven parallel manipulators（CDPMs） with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The n...The solution of tension distributions is infinite for cable-driven parallel manipulators（CDPMs） with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom（6-DOF） CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.展开更多
A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator ...A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator studied, the regression model for parametric identification is characterized by multieollinearity, which will result in unreliable and inaccurate parameter estimations with large eovarianee if the conventional parameter estimation algorithm based on single error minimizing criterion is used. To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator, a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles. The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator, and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.展开更多
Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, the relatively small workspace and the strong coupling relationship among arms, a synchronizat...Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, the relatively small workspace and the strong coupling relationship among arms, a synchronization control strategy is presented in this paper. Since in the feedforward, the inertial and the coriolis matrix are designed constant according to the relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms can be reduced, and the synchronization performance among axes can be improved. The stability of the controllers was proved by Lyapunov method. Finally, experimental results show the feasibility of the method.展开更多
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 ...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.展开更多
This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equa...This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.展开更多
In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators,a redundantly actuated planar parallel manipulator,the 4RRR manipulator,was examined.In the current study,three types of workspace were an...In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators,a redundantly actuated planar parallel manipulator,the 4RRR manipulator,was examined.In the current study,three types of workspace were analyzed.In the analysis of the reachable workspace,the shape of the workspace of 4RRR PMs was illustrated,and the relationship between the parameters of parallel mechanisms（PMs） and this kind of workspace was discussed.In the analysis of the m-orientation workspace,a procedure for calculating this type of workspace was presented,and the relationship between this type of workspace and the requirement of rotational displacement was revealed.In the analysis of the nonsingular workspace,the singularity of 4RRR PMs was discussed,the boundary of the singularity was illustrated,and a scheme to maximize the nonsingular workspace was presented.Depicting the properties of 4RRR PMs from different perspectives,the analyses of these three kinds of workspace can serve as helpful references for the structure design and mechanism control of 4RRR PMs.展开更多
The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers.This paper focuses on designing a class of 2R1T(R:Rotation;T:Translation)parallel spindle...The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers.This paper focuses on designing a class of 2R1T(R:Rotation;T:Translation)parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension(2D)large rotational angles.In order to construct 2D rotational degrees of freedom(DOFs),a platform with 2D revolute joints is proposed first.Based on the constraint screw theory,the feasible limbs that can be connected in the platform are synthesized.In order to provide constant rotational axis for the platform,a class of redundant limbs are designed.A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion.The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform.The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed.The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.展开更多
基金Supported by National Natural Science Foundation of China(Grant No.51275500)Research Project of State Key Laboratory of Mechanical System and Vibration(Grant No.MSV201502)+1 种基金USTC-COOGOO Robotics Research Center(Grant No.2015)Youth Innovation Promotion Association of Chinese Academy of Sciences(Grant No.2012321)
文摘The solution of tension distributions is infinite for cable-driven parallel manipulators（CDPMs） with redundant cables. A rapid optimization method for determining the optimal tension distribution is presented. The new optimization method is primarily based on the geometry properties of a polyhedron and convex analysis. The computational efficiency of the optimization method is improved by the designed projection algorithm, and a fast algorithm is proposed to determine which two of the lines are intersected at the optimal point. Moreover, a method for avoiding the operating point on the lower tension limit is developed. Simulation experiments are implemented on a six degree-of-freedom（6-DOF） CDPM with eight cables, and the results indicate that the new method is one order of magnitude faster than the standard simplex method. The optimal distribution of tension distribution is thus rapidly established on real-time by the proposed method.
基金supported by National Natural Science Foundation of China (No. 50775200).
文摘A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator studied, the regression model for parametric identification is characterized by multieollinearity, which will result in unreliable and inaccurate parameter estimations with large eovarianee if the conventional parameter estimation algorithm based on single error minimizing criterion is used. To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator, a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles. The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator, and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.
基金supported by the Natural Science Foundation of China under Grant No.50775170 and 50805111by Xidian University under Grant No.JY10000904011 and JY10000904006
文摘Considering the special characteristics of the redundant parallel manipulator, with emphasis on the variable of structure, the relatively small workspace and the strong coupling relationship among arms, a synchronization control strategy is presented in this paper. Since in the feedforward, the inertial and the coriolis matrix are designed constant according to the relatively small workspace, position measurement of the endeffector in plane is ignored. Synchronization error and coupling error are introduced to reject the model errors of inertial and coriolis matrix as stated above. Using the method, the errors of driving arms can be reduced, and the synchronization performance among axes can be improved. The stability of the controllers was proved by Lyapunov method. Finally, experimental results show the feasibility of the method.
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).
文摘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.
基金supported by National Natural Science Foundation of China(Nos.51075222 and E050101)Priority Academic Program Development of Jiangsu Higher Education Institutions(No.6,2011)+1 种基金Zhenjiang Municipal Key Technology R&D Program(No.NY2011013)Postgraduate Research and Innovation Program of Jiangsu Higher Education Institutions(No.1221140046)
文摘This paper deals with the dynamics and control of a novel 3-degrees-of-freedom （DOF） parallel manipulator with actuation redundancy. According to the kinematics of the redundant manipulator, the inverse dynamic equation is formulated in the task space by using the Lagrangian formalism, and the driving force is optimized by utilizing the minimal 2-norm method. Based on the dynamic model, a synchronized sliding mode control scheme based on contour error is proposed to implement accurate motion tracking control. Additionally, an adaptive method is introduced to approximate the lumped uncertainty of the system and provide a chattering-free control. The simulation results indicate the effectiveness of the proposed approaches and demonstrate the satisfactory tracking performance compared to the conventional controller in the presence of the parameter uncertainties and un-modelled dynamics for the motion control of manipulators.
基金Supported by the National Natural Science Foundation of China(No 50775117)the National Key Basic Research and Development (973) Program of China (No 2004CB318000)
文摘In order to overcome the drawbacks of 3RRR non-redundant parallel manipulators,a redundantly actuated planar parallel manipulator,the 4RRR manipulator,was examined.In the current study,three types of workspace were analyzed.In the analysis of the reachable workspace,the shape of the workspace of 4RRR PMs was illustrated,and the relationship between the parameters of parallel mechanisms（PMs） and this kind of workspace was discussed.In the analysis of the m-orientation workspace,a procedure for calculating this type of workspace was presented,and the relationship between this type of workspace and the requirement of rotational displacement was revealed.In the analysis of the nonsingular workspace,the singularity of 4RRR PMs was discussed,the boundary of the singularity was illustrated,and a scheme to maximize the nonsingular workspace was presented.Depicting the properties of 4RRR PMs from different perspectives,the analyses of these three kinds of workspace can serve as helpful references for the structure design and mechanism control of 4RRR PMs.
基金The authors gratefully acknowledge the financial support of the National Nature Science Foundation of China(Grant Nos.51975039 and 51675037)the Fundamental Research Funds for the Central Universities(Grant No.2018JBZ007).
文摘The parallel spindle heads with high rotational capability are demanded in the area of multi-axis machine tools and 3D printers.This paper focuses on designing a class of 2R1T(R:Rotation;T:Translation)parallel spindle heads and the corresponding collaborative 5-axis manipulators with 2-dimension(2D)large rotational angles.In order to construct 2D rotational degrees of freedom(DOFs),a platform with 2D revolute joints is proposed first.Based on the constraint screw theory,the feasible limbs that can be connected in the platform are synthesized.In order to provide constant rotational axis for the platform,a class of redundant limbs are designed.A class of redundant 2R1T parallel spindle heads is obtained by connecting the redundant limbs with the platform and the redundant characteristics are verified by the modified Grübler-Kutzbach criterion.The corresponding 5-axis collaborative manipulators are presented by constructing a 2-DOF series translational bottom moving platform.The inverse kinematics and the orientation workspace as well as the decoupling characteristics of this type of 2R1T parallel spindle heads are analyzed.The results show that these manipulators have large 2D rotational angles than the traditional A3/Z3 heads and can be potentially used in the application of multi-axis machine tools and the 3D printers.
