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.
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.