Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism

• 作者: Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding
• 来源期刊: 中国机械工程学报
• 年，卷（期）: 2021,（6）
• 所属期刊栏目: Mechanism and Robotics
• 页码范围: 373-384
• 页数: 12页
• 语种: 英文

摘要

The singularity problem brings troubles to the design and application for the parallel mechanism.Currently,redun-dant actuation is one of the useful methods to solve this singularity problem.However,faced to the numerous joints in a parallel mechanism,how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue.This paper focuses on a 2R1T 3-UPU(U for universal joint and P for prismatic joint)parallel mechanism(PM)with two rotational and one translational(2R1T)degrees of freedom(DOFs)and the ability of multiple remote centers of motion(M-RCM).The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singular-ity,constraint singularity,mixed singularity and limb singularity.To solve these singular problems,the quantifiable redundancy transmission index(RTI)and the redundancy constraint index(RCI)are proposed for optimum seeking of redundant actuators for this PM.Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity.This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.