文档介绍：Mechanism and Machine Theory 44 (2009) 835–849
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Dynamics and control of a planar 3-DOF parallel manipulator
with actuation redundancy
Jun Wu *, Jinsong Wang, Liping Wang, Tiemin Li
Institute of Manufacturing Engineering, Department of Precision Instruments, Tsinghua University, Beijing 100084, PR China
article info abstract
Article history: This paper deals with the dynamics and control of a planar 3-DOF parallel manipulator
Received 6 December 2006 with actuation redundancy. According to the kinematics of the redundant manipulator,
Received in revised form 14 March 2008 the inverse dynamics is derived by using the virtual work principle, and the driving force
Accepted 9 April 2008
is optimized by utilizing the least-square method. Based on the dynamic model, a position
Available online 19 May 2008
and force switching control strategy is proposed for the parallel manipulator. In this con-
trol strategy, two extendible links are controlled by position and force modes, respectively.
Moreover, in the whole workspace, their control modes are switched. The critical angles for
Keywords:
switching control modes are planned and the pensation method is investi-
Dynamics
Position and force switching control gated. The control tests show that the contour error of the redundantly actuated parallel
Parallel manipulator manipulator is similar to that of its corresponding non-redundant parallel manipulator
Actuation redundancy without one extendible link. However, the redundant parallel manipulator has a larger ori-
entation workspace and higher stiffness. The redundantly actuated parallel manipulator is
incorporated into a 4-DOF hybrid machine tool which also includes a feed worktable.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
In theory, parallel manipulators are capable of answering the increasing needs of industry in terms of