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

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Abstract

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.

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Authors and Affiliations

  1. Center of Excellence in Design, Robotics and Automation (CEDRA), Mechanical Engineering Department, Sharif University of Technology, Tehran, Iran

    Mohammad H. Abedinnasab & G. R. Vossoughi

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  1. Mohammad H. Abedinnasab
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  2. G. R. Vossoughi
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Correspondence to Mohammad H. Abedinnasab.

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Abedinnasab, M.H., Vossoughi, G.R. Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism. Nonlinear Dyn 58, 611–622 (2009). https://doi.org/10.1007/s11071-009-9504-1

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  • DOI: https://doi.org/10.1007/s11071-009-9504-1

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