Hostname: page-component-78c5997874-lj6df Total loading time: 0 Render date: 2024-11-10T20:20:08.343Z Has data issue: false hasContentIssue false
  • English
  • Français

Dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool

Published online by Cambridge University Press:  01 January 2009

Jun Wu ,
Jinsong Wang ,
Liping Wang  and
Tiemin Li
Jun Wu*
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
Jinsong Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
Liping Wang
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
Tiemin Li
Affiliation:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, People's Republic of China
*
*Corresponding author. E-mail: wu-j03@mails.tsinghua.edu.cn
Get access Rights & Permissions [Opens in a new window]

Summary

This paper deals with the dynamic model and force control of the redundantly actuated parallel manipulator of a 5-DOF hybrid machine tool. The inverse dynamic model is derived by using the Newton–Euler method. The driving force is optimized by the least-square method. Based on the kinematic and dynamic models, the redundant chain is controlled by force mode and other chains by position mode. The redundantly actuated parallel manipulator is incorporated into a 5-DOF hybrid machine tool which also includes a worktable with a translational DOF and a rotational DOF. The experiments wherein the machine moves along a straight-line trajectory and a circular trajectory show that the machine has a good contouring performance.

Keywords

Dynamic modelForce controlRedundantly actuated parallel manipulator
Type
Article
Information
Robotica , Volume 27 , Issue 1 , January 2009 , pp. 59 - 65
Copyright
Copyright © Cambridge University Press 2008

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Merlet, J.-P., Parallel Robots (Kluwer Academic Publishers, London, 2000).CrossRefGoogle Scholar
2.Wu, J., Wang, J., Li, T. and Wang, L., “Analysis and application of a 2-DOF planar parallel mechanism,” J. Mech. Design 129 (4), 434–437 (2007).CrossRefGoogle Scholar
3.Pritschow, G., “Parallel kinematic machines (PKM)—Limitations and new solutions,” CIRP Annals—Manufact. Technol. 49 (1), 275–280 (2000).CrossRefGoogle Scholar
4.Ropponen, T., Actuation redundancy in a closed-chain robot mechanism, Ph.D. Dissertation (Helsinki University of Technology, Finland, 1993).Google Scholar
5.Conkur, E. S. and Buckingham, R., “Clarifying the definition of redundancy as used in robotics,” Robotica 15 (5), 583–586 (1997).CrossRefGoogle Scholar
6.Wang, J. and Gosselin, C. M., “Kinematic analysis and design of kinematically redundant parallel mechanisms,” J. Mech. Design 126 (1), 109–118 (2004).CrossRefGoogle Scholar
7.Dasgupta, B. and Mruthyunjaya, T. S., “Force redundancy in parallel manipulators: Theoretical and practical issues,” Mech. Mach. Theory 33 (6), 727–742 (1998).CrossRefGoogle Scholar
8.Kim, H. S., Cho, Y. M. and Lee, K. I., “Robust nonlinear task space control for 6-DOF parallel manipulator,” Automatica 41 (9), 1591–1600 (2005).CrossRefGoogle Scholar
9.Wu, J., Wang, J., Li, T. and Wang, L., “Dynamic analysis of the 2-DOF planar parallel manipulator of a heavy duty hybrid machine tool,” Int. J. Adv. Manufact. Technol. 34 (3–4), 413–420 (2007).CrossRefGoogle Scholar
10.Nakamura, Y. and Ghodoussi, M., “Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators,” IEEE Trans. Rob. Autom., 5 (3), 294–302 (1989).CrossRefGoogle Scholar
11.Liu, G. F., Wu, Y. L., et al. , “Analysis and control of redundant parallel manipulators,” Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, South Korea (2001) pp. 3748–3754.Google Scholar
12.Cheng, H., Yiu, Y. K. and Li, Z. X., “Dynamics and control of redundantly actuated parallel manipulators,” IEEE/ASME Trans. Mechatron. 8 (4), 483–491 (2003).CrossRefGoogle Scholar
13.Muller, A., “Internal preload control of redundantly actuated parallel manipulators—Its application to backlash avoiding control,” IEEE Trans. Robot. 21 (4), 668–677 (2005).CrossRefGoogle Scholar