Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy

  • Chaoyu Shen ,
  • Haibo Qu ,
  • Sheng Guo ,
  • Xiao Li
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  • 1. Robotics Research Center, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China;
    2. China Waterborne Transport Research Institute, Beijing, 100088, China;
    3. Key Laboratory of Vehicle Advanced Manufacturing, Measuring and Control Technology, Ministry of Education, Beijing Jiaotong University, Beijing, 100044, China

Received date: 2021-10-25

  Revised date: 2022-05-16

  Online published: 2023-04-24

Supported by

Supported by Fundamental Research Funds for the Central Universities (Grant No. 2022JBZX025), Natural Science Foundation of Hebei Province (Grant No. E2022105029) and National Natural Science Foundation of China (Grant No. 51875033).

Abstract

The kinematic redundancy is considered as a way to improve the performance of the parallel mechanism. In this paper, the kinematics performance of a three degree-of-freedom parallel mechanism with kinematic redundancy (3-DOF PM-KR) and the influence of redundant parts on the PM-KR are analyzed. Firstly, the kinematics model of the PM-KR is established. The inverse solutions, the Jacobian matrix, and the workspace of the PM-KR are solved. Secondly, the influence of redundancy on the PM-KR is analyzed. Since there exists kinematic redundancy, the PM-KR possesses fault-tolerant performance. By locking one actuating joint or two actuating joints simultaneously, the fault-tolerant workspace is obtained. When the position of the redundant part is changed, the workspace and singularity will be changed. The results show that kinematic redundancy can be used to avoid singularity. Finally, the simulations are performed to prove the theoretical analysis.

Cite this article

Chaoyu Shen , Haibo Qu , Sheng Guo , Xiao Li . Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy[J]. Chinese Journal of Mechanical Engineering, 2022 , 35(5) : 113 -113 . DOI: 10.1186/s10033-022-00793-2

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