Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requir...Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.展开更多
This paper describes the BAPAMAN（Binary Actuated Parallel MANipulator） series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics（LARM）. Basic common characteristics of BAPA...This paper describes the BAPAMAN（Binary Actuated Parallel MANipulator） series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics（LARM）. Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy（SMA） actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.展开更多
基金Supported by National Basic Research Program of China(973 Program,Grant No.2014CB046600)National Natural Science Foundation of China(Grant No.11472172)+1 种基金National Science Foundation for the Youth(Grant No.51305256)Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20130073110039)
文摘Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.
文摘This paper describes the BAPAMAN（Binary Actuated Parallel MANipulator） series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics（LARM）. Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy（SMA） actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.
