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Workspace analysis and size optimization of planar 3-DOF redundantly actuated parallel mechanism

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Abstract

Parallel mechanism is widely used due to its high stiffness, strong bearing capacity, small accumulated error, and good dynamic performance. In this paper, a planar three-degree-of-freedom (3-DOF) redundantly actuated parallel mechanism is proposed. Firstly, the position constraint equation is investigated and the inverse position solution is derived. The center velocity mapping model of the moving platform is established and the Jacobian matrix of the mechanism is obtained. The theoretical model based on Mathematica and the simulation model based on ADAMS are compared to validate the correctness of the theoretical results, and the peak deviation of the results is within 5 %. Then, the constraint conditions are conducted, and the workspace of the mechanism is solved by numerical method. Finally, the influence relationship curves of rod parameters on the proportion of workspace are obtained respectively. And the size parameters are optimized to carry out a comparative analysis of the workspace.

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Abbreviations

DOF :

Degrees of freedom

CNC :

Computer numerical control

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Acknowledgments

This work was supported by Open R&D Program of Haian Taiyuan University of Technology Advanced Manufacturing and Intelligent Equipment Industry Research Institute (Project No. 2023HA-TYUTKFYF026), National Key R&D Program of China (Project No. 2018YFB1307900), National Natural Science Foundation of China (Project No. 51835002).

Author information

Authors and Affiliations

  1. College of Mechanical Engineering, Yanshan University, Qinhuangdao, 066004, China

    Jing Zhang

  2. Hebei Light Structural Equipment Design and Manufacturing Technology Innovation Center, Yanshan University, Qinhuangdao, 066004, China

    Jing Zhang

  3. National-local Joint Engineering Laboratory of Mining Fluid Control, Taiyuan, 030024, China

    Dongbao Wang & Ziming Kou

  4. School of Automation, Xi’an University of Posts & Telecommunications, Shaanxi, Xi’an, 710072, China

    Ziming Song

  5. School of Mechatronics Engineering, Harbin Institute of Technology, Harbin, 150001, China

    Hongwei Guo & Rongqiang Liu

Authors
  1. Jing Zhang
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  2. Dongbao Wang
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  3. Ziming Song
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  4. Hongwei Guo
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  5. Rongqiang Liu
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  6. Ziming Kou
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Corresponding author

Correspondence to Jing Zhang.

Additional information

Jing Zhang, Ph.D., is an Associate Professor in Yanshan University. Her research interests include robotics and mechanism theory and mechatronics.

Dongbao Wang studied at Taiyuan University of Technology, Taiyuan. His research interests include robotic and control.

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Zhang, J., Wang, D., Song, Z. et al. Workspace analysis and size optimization of planar 3-DOF redundantly actuated parallel mechanism. J Mech Sci Technol 38, 957–967 (2024). https://doi.org/10.1007/s12206-024-0140-y

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  • DOI: https://doi.org/10.1007/s12206-024-0140-y

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