Volume 16 Number 2
April 2019
Article Contents
Hai-Qiang Zhang, Hai-Rong Fang and Bing-Shan Jiang. Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine. International Journal of Automation and Computing, vol. 16, no. 2, pp. 150-162, 2019. doi: 10.1007/s11633-018-1156-5
Cite as: Hai-Qiang Zhang, Hai-Rong Fang and Bing-Shan Jiang. Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine. International Journal of Automation and Computing, vol. 16, no. 2, pp. 150-162, 2019.

# Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine

Author Biography:
• Hai-Qiang Zhang received the B. Sc. degree in mechanical design and theories from Yantai University, China in 2012, and the M. Sc. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate in mechanical, electronic and control engineering at Beijing Jiaotong University, China. In 2018, he receive the China Scholarship Council (CSC) Founding to York University, Canada as a joint Ph. D. student. His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundancy actuation robots, over-constrained parallel manipulators, and multi-objective optimization design. E-mail: hqzhang@bjtu.edu.cn ORCID iD: 0000-0003-4421-5671

Hai-Rong Fang received the B. Sc. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Sc.degree in mechanical engineering from Sichuan University, China in 1996, and the Ph. D. degree in mechanical engineering from Beijing Jiaotong University, China in 2005. She worked as an associate professor in Department of Engineering Mechanics, Beijing Jiaotong University, China, from 2003 to 2011. She is a professor at School of Mechanical Engineering from 2011 and director of Robotics Research Center. Her research interests include the parallel mechanisms, digital control, robotics and automation, machine tool equipment. E-mail: hrfang@bjtu.edu.cn (Corresponding author) ORCID iD: 0000-0001-7938-4737

Bing-Shan Jiang received the B. Sc. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Sc.degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate in mechanical, electronic and control engineering, Beijing Jiaotong University, China. His research interests include synthesis, kinematics, dynamics and control of parallel robots. E-mail: 17116381@bjtu.edu.cn

• Accepted: 2018-08-23
• Published Online: 2018-10-17
• This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained 2${\underline{\rm P}}$RU-${\underline{\rm P}}$R${\underline{\rm P}}$S parallel machining head (${\underline{\rm P}}$ denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.
•  [1] Bing-Shan Jiang, Hai-Rong Fang, Hai-Qiang Zhang. Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms . International Journal of Automation and Computing, 2021, 18(1): 96-109.  doi: 10.1007/s11633-020-1255-y [2] Muhammad A. Wardeh, Samuel Frimpong. Kinematic Analysis of an Under-actuated, Closed-loop Front-end Assembly of a Dragline Manipulator . International Journal of Automation and Computing, 2020, 17(4): 527-538.  doi: 10.1007/s11633-019-1217-4 [3] Sen-Hao Hou, Xiao-Qiang Tang, Ling Cao, Zhi-Wei Cui, Hai-Ning Sun, Ying-Wei Yan. Research on End-force Output of 8-cable Driven Parallel Manipulator . International Journal of Automation and Computing, 2020, 17(3): 378-389.  doi: 10.1007/s11633-019-1195-6 [4] Bing-Shan Jiang, Hai-Rong Fang, Hai-Qiang Zhang. Type Synthesis and Kinematics Performance Analysis of a Class of 3T2R Parallel Mechanisms with Large Output Rotational Angles . International Journal of Automation and Computing, 2019, 16(6): 775-785.  doi: 10.1007/s11633-019-1192-9 [5] Hai-Qiang Zhang, Hai-Rong Fang, Bing-Shan Jiang, Shuai-Guo Wang. Dynamic Performance Evaluation of a Redundantly Actuated and Over-constrained Parallel Manipulator . International Journal of Automation and Computing, 2019, 16(3): 274-285.  doi: 10.1007/s11633-018-1147-6 [6] Wei Sun, Wen-Xing Yuan, Yu-Qiang Wu. Adaptive Tracking Control of Mobile Manipulators with affine Constraints and Under-actuated Joint . International Journal of Automation and Computing, 2018, 15(6): 728-735.  doi: 10.1007/s11633-015-0934-6 [7] Amir Hossein Davaie Markazi, Mohammad Maadani, Seyed Hassan Zabihifar, Nafiseh Doost-Mohammadi. Adaptive Fuzzy Sliding Mode Control of Under-actuated Nonlinear Systems . International Journal of Automation and Computing, 2018, 15(3): 364-376.  doi: 10.1007/s11633-017-1108-5 [8] Mahmood Mazare, Mostafa Taghizadeh, M. Rasool Najafi. Kinematic Analysis and Design of a 3-DOF Translational Parallel Robot . International Journal of Automation and Computing, 2017, 14(4): 432-441.  doi: 10.1007/s11633-017-1066-y [9] Shotaro Kawahata, Ming-Cong Deng. Operator-based Nonlinear Temperature Control Experiment for Microreactor Group Actuated by Peltier Devices . International Journal of Automation and Computing, 2016, 13(4): 401-408.  doi: 10.1007/s11633-016-0994-2 [10] Lilia Zouari,  Hafedh Abid,  Mohamed Abid. Sliding Mode and PI Controllers for Uncertain Flexible Joint Manipulator . International Journal of Automation and Computing, 2015, 12(2): 117-124.  doi: 10.1007/s11633-015-0878-x [11] Li Zhang,  Shan Liu. Iterative Learning Control for Flexible Manipulator Using Fourier Basis Function . International Journal of Automation and Computing, 2015, 12(6): 639-647.  doi: 10.1007/s11633-015-0932-8 [12] Teerawat Sangpet,  Suwat Kuntanapreeda,  Rüdiger Schmidt. Hysteretic Nonlinearity Observer Design Based on Kalman Filter for Piezo-actuated Flexible Beams with Control Applications . International Journal of Automation and Computing, 2014, 11(6): 627-634.  doi: 10.1007/s11633-014-0817-2 [13] Fu-Cai Liu,  Li-Huan Liang,  Juan-Juan Gao. Fuzzy PID Control of Space Manipulator for Both Ground Alignment and Space Applications . International Journal of Automation and Computing, 2014, 11(4): 353-360.  doi: 10.1007/s11633-014-0800-y [14] Xue-Mei Niu, Guo-Qin Gao, Xin-Jun Liu, Zhi-Da Bao. Dynamics and Control of a Novel 3-DOF Parallel Manipulator with Actuation Redundancy . International Journal of Automation and Computing, 2013, 10(6): 552-562.  doi: 10.1007/s11633-013-0753-6 [15] Ling-Feng Sang, Hong-Bo Wang, Dian-Fan Zhang, Zhen-Hua Tian, Fu-Hai Deng, De-Lei Fang. Application of Parallel Mechanism in Varistructured Quadruped/Biped Human-carrying Walking Chair Robot . International Journal of Automation and Computing, 2013, 10(5): 447-454.  doi: 10.1007/s11633-013-0741-x [16] Ming Hu,  Jia-Shun Shi. The Kinematic Analyses of the 3-DOF Parallel Machine Tools . International Journal of Automation and Computing, 2011, 8(1): 107-111.  doi: 10.1007/s11633-010-0561-1 [17] Vineet Kumar,  A. P. Mittal. Parallel Fuzzy P+Fuzzy I+Fuzzy D Controller:Design and Performance Evaluation . International Journal of Automation and Computing, 2010, 7(4): 463-471.  doi: 10.1007/s11633-010-0528-2 [18] Xiuo-Fen Ye, Bao-Feng Gao, Shu-Xiang Guo, Li-Quan Wang. Development of ICPF Actuated Underwater Microrobots . International Journal of Automation and Computing, 2006, 3(4): 382-391.  doi: 10.1007/s11633-006-0382-4 [19] . Locomotion and Depth Control of Robotic Fish with Modular Undulating Fins . International Journal of Automation and Computing, 2006, 3(4): 348-357.  doi: 10.1007/s11633-006-0348-6 [20] De Xu, Carlos A. Acosta Calderon, John Q. Gan, Huosheng Hu, Min Tan. An Analysis of the Inverse Kinematics for a 5-DOF Manipulator . International Journal of Automation and Computing, 2005, 2(2): 114-124.  doi: 10.1007/s11633-005-0114-1
###### 通讯作者: 陈斌, bchen63@163.com
• 1.

沈阳化工大学材料科学与工程学院 沈阳 110142

Figures (13)  / Tables (1)

## Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine

###### School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China

Abstract: This paper presents a novel 1T2R three degrees of freedom redundantly actuated and overconstrained 2${\underline{\rm P}}$RU-${\underline{\rm P}}$R${\underline{\rm P}}$S parallel machining head (${\underline{\rm P}}$ denotes the active prismatic joint), which can construct 5-axis hybrid machine to complete high speed freedom surface milling for large complex structural components in aerospace. Firstly, based on the screw theory, the mobility of the proposed parallel manipulator is briefly analysed. Secondly, the kinematic inverse position and the parasitic motion of the parallel manipulator are explicitly expressed. Furthermore, motion-force transmission performance evaluation indices are derived in detail via an alternative approach based on the screw theory. More importantly, a simple method for quickly solving the maximum virtual power coefficient is proposed, and the motion-force transmission performance evaluation index is greatly improved. To evaluate the kinematic performance, its workspace is calculated. With numerical examples, performance distribution atlases of the manipulator are depicted visually. The corresponding results illustrate that the proposed parallel manipulator has better orientation workspace and superior motion-force transmission performance than the 2PRU-PRS parallel manipulator, which proves the validity and applicability of applying this manipulator as a machining head.

Hai-Qiang Zhang, Hai-Rong Fang and Bing-Shan Jiang. Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine. International Journal of Automation and Computing, vol. 16, no. 2, pp. 150-162, 2019. doi: 10.1007/s11633-018-1156-5
 Citation: Hai-Qiang Zhang, Hai-Rong Fang and Bing-Shan Jiang. Motion-force Transmissibility Characteristic Analysis of a Redundantly Actuated and Overconstrained Parallel Machine. International Journal of Automation and Computing, vol. 16, no. 2, pp. 150-162, 2019.
Reference (48)

/