Elastodynamics of a spatial redundantly actuated parallel mechanism constrained by two higher kinematic pairs
Sign Up to like & getrecommendations! Published in 2021 at "Meccanica"
DOI: 10.1007/s11012-020-01304-0
Abstract: A spatial redundantly actuated parallel mechanism (RAPM) constrained by two point-contact higher kinematic pairs (HKPs) has been designed for food texture evaluation during the mastication process. To this end, the mechanism must be capable of… read more here.
Keywords: parallel mechanism; redundantly actuated; constrained two; mechanism ... See more keywords
Nonlinear dynamic modeling and performance analysis of a redundantly actuated parallel manipulator with multiple actuation modes based on FMD theory
Sign Up to like & getrecommendations! Published in 2017 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-017-3461-x
Abstract: A novel redundantly actuated parallel manipulator (PM) with multiple actuation modes was developed recently by the author. In this paper, the further research is implemented and a systematic methodology is proposed to develop the rigid–flexible… read more here.
Keywords: methodology; multiple actuation; redundantly actuated; actuation modes ... See more keywords
Dynamic modeling and terminal sliding mode control of a 3-DOF redundantly actuated parallel platform
Sign Up to like & getrecommendations! Published in 2019 at "Mechatronics"
DOI: 10.1016/j.mechatronics.2019.04.001
Abstract: Abstract An improved 3-degrees-of-freedom (DOF) redundantly actuated parallel platform (RAPP) has been designed to adjust the pose of heavy-loaded and large-scaled equipment. This paper presents the dynamic modeling and controller designing of the 3-DOF parallel… read more here.
Keywords: control; dof redundantly; parallel platform; dynamic modeling ... See more keywords
Coordinated Dynamic Control in the Task Space for Redundantly Actuated Cable-Driven Parallel Robots
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DOI: 10.1109/tmech.2020.3038852
Abstract: Although cable-driven parallel robots (CDPRs) act as parallel mechanisms that are driven by multiple cables coordinately, the coordination motion analysis is often omitted. Therefore, the coordination effect in the task space (TS) of redundantly actuated… read more here.
Keywords: driven parallel; redundantly actuated; control; scheme ... See more keywords
The Modeling of Redundantly Actuated Mechanical Systems
Sign Up to like & getrecommendations! Published in 2019 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4044540
Abstract: Dynamics modeling is essential in the design and control of mechanical systems, the focus of the paper being redundantly actuated systems, which bring about special challenges. The authors resort to the natural orthogonal complement (NOC),… read more here.
Keywords: methodology; actuated mechanical; redundantly actuated; mechanical systems ... See more keywords
A 2R1T redundantly actuated parallel manipulator with an offset moving platform and fixed linear actuators
Sign Up to like & getrecommendations! Published in 2023 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4062304
Abstract: Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering the advantages of an offset… read more here.
Keywords: platform; moving platform; actuated parallel; redundantly actuated ... See more keywords
Kinematic calibration of the 3-degree-of-freedom redundantly actuated spatial parallel module of a five-axis hybrid machine
Sign Up to like & getrecommendations! Published in 2020 at "Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture"
DOI: 10.1177/0954405420911299
Abstract: As a new type of manufacturing equipment, redundant hybrid machines have the theoretical advantage over the traditional serial machines in efficiently processing large structural parts with high material removal ratio and complex parts with curved… read more here.
Keywords: redundantly actuated; parallel module; actuated spatial; spatial parallel ... See more keywords
Optimal dimensioning of redundantly actuated mechanism for maximizing energy efficiency and workspace via Taguchi method
Sign Up to like & getrecommendations! Published in 2017 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/0954406215626741
Abstract: A kinematic optimization of a redundantly actuated parallel mechanism is developed via the Taguchi method to maximize the sum of energy efficiency and workspace. In the optimization process, the energy consumption in a representative pathway… read more here.
Keywords: redundantly actuated; mechanism; energy; workspace ... See more keywords
Optimal trajectory planning considering optimal torque distribution of redundantly actuated parallel mechanism
Sign Up to like & getrecommendations! Published in 2018 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/0954406217751818
Abstract: Previous studies on the optimal operation planning of redundantly actuated parallel mechanisms have focused on optimal torque distribution for a predefined trajectory. However, the optimized result obtained for a predefined trajectory cannot guarantee an optimal… read more here.
Keywords: trajectory; redundantly actuated; actuated parallel; torque distribution ... See more keywords