Abstract
Error transformation can be used to evaluate the kinematic performance of a parallel manipulator. However, the terminal error of redundantly actuated parallel manipulators is difficult to calculate from joint errors. This paper proposes a method to approximate the terminal error of a redundantly actuated parallel manipulator by taking the minimum terminal error among all corresponding nonredundant counterparts. The local Frobenius norm index (LFNI) is proposed to estimate the expectation of terminal error. Additionally, the global Frobenius norm index (GFNI) is introduced to describe the worst case of terminal error in the workspace, which is then used for the optimum design of a RPU-UPR-2UPU redundantly actuated parallel manipulator. After the optimum design, the average root mean square error of the manipulator is reduced. Furthermore, a control mode determination strategy for allocating force/position control to a certain chain is also proposed to minimize the terminal error, whose effectiveness is validated through simulation.
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This work is supported by the National Natural Science Foundation of China (Grant No. 52375502) and EU H2020 MSCA R&I Programme (no. 101022696).
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Yunfeng Jian received the B.S. degree in mechanical engineering from Tsinghua University, Beijing China, in 2022. He is currently working toward the Ph.D. degree in the Department of Mechanical Engineering, Tsinghua University, Beijing, China. His current research interests include machine tool error modeling, error measurement, and error compensation.
Jun Wu received the B.S. and M.S. degrees in mechanical engineering from Tianjin University, Tianjin, China, in 2000 and 2003, respectively, and the Ph.D. degree in mechanical engineering from Tsinghua University, Beijing, China, in 2008. He is currently a Professor in the Department of Mechanical Engineering, Tsinghua University. His current research interests include robot dynamics and control of parallel kinematic machine.
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Jian, Y., Yu, G., Wu, J. et al. Kinematic performance evaluation method of a 3-DOF redundantly actuated parallel manipulator. J Mech Sci Technol 38, 5075–5085 (2024). https://doi.org/10.1007/s12206-024-0841-2
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DOI: https://doi.org/10.1007/s12206-024-0841-2