Abstract
This paper presents a five degree of freedom (5-DOF) redundantly actuated parallel mechanism (PM) for the parallel machining head of a machine tool. A 5-DOF single kinematic chain is evolved into a secondary kinematic chain based on Lie group theory and a configuration evolution method. The evolutional chain and four 6-DOF kinematic chain SPS (S represents spherical joint and P represents prismatic joint) or UPS (U represents universal joint) can be combined into four classes of 5-DOF redundantly actuated parallel mechanisms. That SPS-(2UPR)R (R represents revolute joint) redundantly actuated parallel mechanism is selected and is applied to the parallel machining head of the machine tool. All formulas of the 4SPS-(2UPR)R mechanism are deduced. The dynamic model of the mechanism is shown to be correct by Matlab and automatic dynamic analysis of mechanical systems (ADAMS) under no-load conditions. The dynamic performance evaluation indexes including energy transmission efficiency and acceleration performance evaluation are analyzed. The results show that the 4SPS-(2UPR)R mechanism can be applied to a parallel machining head and have good dynamic performance.
Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.References
X. Chen, X. J. Liu, F. G. Xie, T. Sun. A comparison study on motion/force transmissibility of two typical 3-DOF parallel manipulators: The sprint Z3 and A3 tool heads. International Journal of Advanced Robotic Systems, vol. 11, no. 1, 2014. DOI: https://doi.org/10.5772/57458.
J. Ghasemi, R. Moradinezhad, M. A. Hosseini. Kinematic synthesis of parallel manipulator via neural network approach. International Journal of Engineering, vol. 30, no. 9, pp. 1319–1325, 2017.
J. Zhang, Y. Q. Zhao, Y. Jin. Elastodynamic modeling and analysis for an Exechon parallel kinematic machine. Journal of Manufacturing Science and Engineering, vol. 138, no. 3, Article number 031011, 2016. DOI: https://doi.org/10.1115/1.4030938.
G. Han, F. G. Xie, X. J. Liu. Evaluation of the power consumption of a high-speed parallel robot. Frontiers of Mechanical Engineering, vol. 13, no. 2, pp. 167–178, 2018. DOI: https://doi.org/10.1007/s11465-017-0456-8.
F. G. Xie, X. J. Liu. Analysis of the kinematic characteristics of a high-speed parallel robot with Schönflies motion: Mobility, kinematics, and singularity. Frontiers of Mechanical Engineering, vol. 11, no. 2, pp. 135–143, 2016. DOI: https://doi.org/10.1007/s11465-016-0389-7.
Y. Wang, J. J. Yu, X. Pei. Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism. Frontiers of Mechanical Engineering, vol. 13, no. 3, pp. 368–375, 2018. DOI: https://doi.org/10.1007/s11465-018-0519-5.
W. D. Yu, H. Wang, G. L. Chen. Design and kinematic analysis of a 3-translational-DOF spatial parallel mechanism based on polyhedra. Mechanism and Machine Theory, vol. 121, pp. 92–115, 2018. DOI: https://doi.org/10.1016/j.mechmachtheory.2017.10.020.
L. Jing, B. L. Liao, M. Liu, L. Xiao, D. S. Guo, X. G. Yan. Different-level simultaneous minimization scheme for fault tolerance of redundant manipulator aided with discrete-time recurrent neural network. Frontiers in Neurorobotics, vol. 11, Article number 50, 2017. DOI: https://doi.org/10.3389/fnbot.2017.00050.
F. Prochazka, M. Valasek, Z. Sika. Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections. Multibody System Dynamics, vol. 36, no. 3, pp. 221–236, 2016. DOI: https://doi.org/10.1007/s11044-015-9481-8.
S. H. Wen, G. Q. Qin, B. W. Zhang, H. K. Lam, Y. S. Zhao, H. B. Wang. The study of model predictive control algorithm based on the force/position control scheme of the 5-DOF redundant actuation parallel robot. Robotics and Autonomous Systems, vol. 79, pp. 12–25, 2016. DOI: https://doi.org/10.1016/j.robot.2016.02.002.
D. Liang, Y. M. Song, T. Sun, X. Y. Jin. Rigid-flexible coupling dynamic modeling and investigation of a redundantly actuated parallel manipulator with multiple actuation modes. Journal of Sound and Vibration, vol. 403, pp. 129–151, 2017. DOI: https://doi.org/10.1016/j.jsv.2017.05.022.
H. B. Qu. Type Synthesis and Parasitic Motion Avoidance of Redundantly Actuated Parallel Mechanisms, Ph.D. dissertation, Beijing Jiaotong University, China, 2013. (in Chinese)
X. L. Chen, D. Y. Jiang, L. L. Chen, Q. Wang. Kinematics performance analysis and optimal design of redundant actuation parallel mechanism. Transactions of the Chinese Society for Agricultural Machinery, vol. 47, no. 6, pp. 340–347, 2016. DOI: https://doi.org/10.6041/j.issn.1000-1298.2016.06.045. (in Chinese)
X. L. Chen, W. M. Feng, Y. S. Zhao. Dynamics model of 5-DOF parallel robot mechanism. Transactions of the Chinese Society for Agricultural Machinery, vol. 44, no. 1, pp. 236–243, 2013. DOI: https://doi.org/10.6041/j.issn.1000-1298.2013.01.044. (in Chinese)
Y. Lu, Y. Liu, L. J. Zhang, N. J. Ye, Y. L. Wang. Dynamics analysis of a novel 5-DoF parallel manipulator with couple-constrained wrench. Robotica, vol. 36, no. 10, pp. 1421–1435, 2018. DOI: https://doi.org/10.1017/S0263574718000474.
Y. Lu, Y. Liu, N. J. Ye. Dynamics analysis of a novel 5-DoF 3SPU+2SPRR type parallel manipulator. Advanced Robotics, vol. 30, no. 9, pp. 595–607, 2016. DOI: https://doi.org/10.1080/01691864.2015.1132637.
J. T. Yao, W. D. Gu, Z. Q. Feng, L. P. Chen, Y. D. Xu, Y. S. Zhao. Dynamic analysis and driving force optimization of a 5-DOF parallel manipulator with redundant actuation. Robotics and Computer-Integrated Manufacturing, vol. 48, pp. 51–58, 2017. DOI: https://doi.org/10.1016/j.rcim.2017.02.006.
X. F. Liu, J. T. Yao, Y. D. Xu, Y. S. Zhao. Research of driving force coordination mechanism in parallel manipulator with actuation redundancy and its performance evaluation. Nonlinear Dynamics, vol. 90, no. 2, pp. 983–998, 2017. DOI: https://doi.org/10.1007/s11071-017-3706-8.
Y. M. Song, G. Dong, T. Sun, B. B. Lian. Elasto-dynamic analysis of a novel 2-DoF rotational parallel mechanism with an articulated travelling platform. Meccanica, vol. 51, no. 7, pp. 1547–1557, 2015. DOI: https://doi.org/10.1007/s11012-014-0099-3.
B. S. Jiang, H. R. Fang, H. Q. 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, vol. 16, no. 6, pp. 775–785, 2019. DOI: https://doi.org/10.1007/s11633-019-1192-9.
J. Guo, G. T. Li, B. Li, S. Wang. A ship active vibration isolation system based on a novel 5-DOF parallel mechanism. In Proceedings of IEEE International Conference on Information and Automation, IEEE, Hailar, China, pp. 800–805, 2014. DOI: https://doi.org/10.1109/ICInfA.2014.6932761.
M. T. Masouleh, C. Gosselin, M. H. Saadatzi, X. W. Kong, H. D. Taghirad. Kinematic analysis of 5-RPUR (3T2R) parallel mechanisms. Meccanica, vol. 46, no. 1, pp. 131–146, 2011. DOI: https://doi.org/10.1007/s11012-010-9393-x.
M. T. Masouleh, C. Gosselin, M. Husty, D. R. Walter. Forward kinematic problem of 5-RPUR parallel mechanisms (3T2R) with identical limb structures. Mechanism and Machine Theory, vol. 46, no. 7, pp. 945–959, 2011. DOI: https://doi.org/10.1016/j.mechmachtheory.2011.02.005.
M. H. Saadatzi, M. T. Masouleh, H. D. Taghirad. Workspace analysis of 5-PRUR parallel mechanisms (3T2R). Robotics and Computer-Integrated Manufacturing, vol. 28, no. 3, pp. 437–448, 2012. DOI: https://doi.org/10.1016/j.rcim.2011.12.002.
F. G. Xie, X. J. Liu, J. S. Wang, M. Wabner. Kinematic optimization of a five degrees-of-freedom spatial parallel mechanism with large orientational workspace. Journal of Mechanisms and Robotics, vol. 9, no. 5, Article number 051005, 2017. DOI: https://doi.org/10.1115/1.4037254.
X. L. Wang, B. Zhang, C. J. Li, J. Huang, T. Y. Wu, Y. Cheng. Analysis for global performance index of 5UPS-RPS parallel mechanism based on Jacobian matrix. Transactions of Beijing Institute of Technology, vol. 38, no. 9, pp. 899–904, 2018. DOI: https://doi.org/10.15918/j.tbit1001-0645.2018.09.004. (in Chinese)
X. D. Jin, Y. F. Fang, H. B. Qu, S. Guo. A class of novel 4-DOF and 5-DOF generalized parallel mechanisms with high performance. Mechanism and Machine Theory, vol. 120, pp. 57–72, 2018. DOI: https://doi.org/10.1016/j.mechmachtheory.2017.09.015.
X. D. Jin, Y. F. Fang, H. B. Qu, S. Guo. A class of novel 2T2R and 3T2R parallel mechanisms with large decoupled output rotational angles. Mechanism and Machine Theory, vol. 114, pp. 156–169, 2017. DOI: https://doi.org/10.1016/j.mechmachtheory.2017.04.003.
C. X. Fan, H. Z. Liu, Y. B. Zhang. Type synthesis of 2T2R, 1T2R and 2R parallel mechanisms. Mechanism and Machine Theory, vol. 61, pp. 184–190, 2013. DOI: https://doi.org/10.1016/j.mechmachtheory.2012.10.006.
D. Liang, Y. M. Song, T. Sun, G. Dong. Optimum design of a novel redundantly actuated parallel manipulator with multiple actuation modes for high kinematic and dynamic performance. Nonlinear Dynamics, vol. 83, no. 1–2, pp. 631–658, 2016. DOI: https://doi.org/10.1007/s11071-015-2353-1.
J. Wu, Y. Gao, B. B. Zhang, L. P. Wang. Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment. Robotics and Computer Integrated Manufacturing, vol. 44, pp. 199–207, 2017. DOI: https://doi.org/10.1016/j.rcim.2016.09.002.
B. B. Zhang, L. P. Wang, J. Wu. Dynamic isotropic performance evaluation of a 3-DOF parallel manipulator. Journal of Tsinghua University (Science and Technology), vol. 57, no. 8, pp. 803–809, 2017. DOI: https://doi.org/10.16511/j.cnki.qh-dxxb.2017.22.041. (in Chinese)
H. Q. Zhang, H. R. Fang, B. S. Jiang, S. G. Wang. Dynamic performance evaluation of a redundantly actuated and over-constrained parallel manipulator. International Journal of Automation and Computing, vol. 16, no. 3, pp. 274–285, 2019. DOI: https://doi.org/10.1007/s11633-018-1147-6.
Acknowledgements
This work was supported by the Fundamental Research Funds for the Central Universities (No. 2018 JBZ007).
Author information
Authors and Affiliations
Corresponding author
Additional information
Bing-Shan Jiang received the B. Eng. degree in mechanical electronic engineering from Liaoning Technical University, China in 2015, and the M. Eng. degree in mechanical engineering from Liaoning Technical University, China in 2017. He is currently a Ph. D. degree candidate at School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, China. His research interests include synthesis, kinematics, dynamics and control of parallel robots.
Hai-Rong Fang received the B. Eng. degree in mechanical engineering from Nanjing University of Science and Technology, China in 1990, the M. Eng. 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 in School of Mechanical Engineering from 2011 and director of the Robotics Research Center.
Her research interests include parallel mechanisms, digital control, robotics and automation, and machine tool equipment.
Hai-Qiang Zhang received the B. Eng. degree in mechanical design and theories from Yantai University, China in 2012, the M. Eng. degree in mechanical engineering from Hebei University of Engineering, China in 2015. He is a Ph. D. degree candidate in mechanical design and theory at Beijing Jiaotong University, China.
His research interests include robotics in computer integrated manufacturing, parallel kinematics machine tool, redundant actuation robots, over-constrained parallel manipulators, and multi-objective optimization design.
Rights and permissions
About this article
Cite this article
Jiang, BS., Fang, HR. & Zhang, HQ. Type Synthesis and Dynamics Performance Evaluation of a Class of 5-DOF Redundantly Actuated Parallel Mechanisms. Int. J. Autom. Comput. 18, 96–109 (2021). https://doi.org/10.1007/s11633-020-1255-y
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11633-020-1255-y