Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism

• Published in: Nonlinear dynamics Vol. 58; no. 4; pp. 611 - 622
• Main Authors: Abedinnasab, Mohammad H., Vossoughi, G. R.
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.12.2009; Springer Nature B.V
• Subjects: Actuation; Actuators; Automotive Engineering; Classical Mechanics; Control; Dynamical Systems; Engineering; Exact solutions; Inverse dynamics; Inverse kinematics; Jacobi matrix method; Jacobian matrix; Kinematics; Mechanical Engineering; Original Paper; Parallel degrees of freedom; Redundancy; Vibration; Parallel mechanisms; Jacobian matrix; Redundancy; Dynamics; Kinematics
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-009-9504-1

In this paper, we propose a new 4-legged 6-DOF redundantly actuated UPS parallel mechanism. Kinematics, singularity and dynamics analyses of the proposed mechanism are addressed. Inverse kinematics has a closed-form solution, whereas the forward kinematics has a semi-closed form solution. Also, the Jacobian matrix has been determined using the concept of reciprocal screws. Using the principle of virtual work and minimum norm method, a general formulation for the inverse dynamics of redundantly actuated parallel manipulator is presented. Moreover, the proposed redundant mechanism has been compared with a similar but nonredundant mechanism in three aspects: reachable points, and actuation forces under static and dynamic conditions. We show that the redundancy decreases singular points, and dramatically reduces the actuators’ forces and torques.