Kinematic performance evaluation method of a 3-DOF redundantly actuated parallel manipulator

IF 1.5 4区工程技术 Q3 ENGINEERING, MECHANICAL

Journal of Mechanical Science and Technology Pub Date : 2024-09-04 DOI:10.1007/s12206-024-0841-2

Yunfeng Jian, Guang Yu, Jun Wu, Bin Zhu, Yanling Tian

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引用次数: 0

Abstract

Error transformation can be used to evaluate the kinematic performance of a parallel manipulator. However, the terminal error of redundantly actuated parallel manipulators is difficult to calculate from joint errors. This paper proposes a method to approximate the terminal error of a redundantly actuated parallel manipulator by taking the minimum terminal error among all corresponding nonredundant counterparts. The local Frobenius norm index (LFNI) is proposed to estimate the expectation of terminal error. Additionally, the global Frobenius norm index (GFNI) is introduced to describe the worst case of terminal error in the workspace, which is then used for the optimum design of a RPU-UPR-2UPU redundantly actuated parallel manipulator. After the optimum design, the average root mean square error of the manipulator is reduced. Furthermore, a control mode determination strategy for allocating force/position control to a certain chain is also proposed to minimize the terminal error, whose effectiveness is validated through simulation.

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3-DOF 冗余致动平行机械手的运动性能评估方法

误差变换可用于评估并联机械手的运动性能。然而，冗余致动并联机械手的终端误差很难通过关节误差计算出来。本文提出了一种方法，通过取所有对应非冗余并联操纵器中的最小终端误差来近似计算冗余致动并联操纵器的终端误差。本文提出了局部弗罗贝尼斯规范指数（LFNI）来估计终端误差的期望值。此外，还引入了全局弗罗贝尼斯准则指数（GFNI）来描述工作空间中终端误差的最坏情况，然后用于 RPU-UPR-2UPU 冗余致动并联机械手的优化设计。优化设计后，机械手的平均均方根误差降低了。此外，还提出了一种将力/位置控制分配给特定链的控制模式确定策略，以最大限度地减少终端误差，并通过仿真验证了其有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Mechanical Science and Technology 工程技术-工程：机械

CiteScore

2.90

自引率

6.20%

发文量

517

审稿时长

7.7 months

期刊介绍： The aim of the Journal of Mechanical Science and Technology is to provide an international forum for the publication and dissemination of original work that contributes to the understanding of the main and related disciplines of mechanical engineering, either empirical or theoretical. The Journal covers the whole spectrum of mechanical engineering, which includes, but is not limited to, Materials and Design Engineering, Production Engineering and Fusion Technology, Dynamics, Vibration and Control, Thermal Engineering and Fluids Engineering. Manuscripts may fall into several categories including full articles, solicited reviews or commentary, and unsolicited reviews or commentary related to the core of mechanical engineering.