NDLI: Kinematic/dynamic analysis and optimization of a 2-URR-RRU parallel manipulator

Content Provider	Springer Nature Link
Author	Wang, Zhonglin Zhang, Ningbin Chai, Xinxue Li, Qinchuan
Copyright Year	2016
Abstract	A 2-URR-RRU parallel manipulator has two rotational degrees of freedom (DOF) and one translational DOF, where U denotes a universal joint and R a revolute joint. The 2-URR-RRU parallel manipulator has promising engineering potentials. However, investigations on its kinematics, dynamics and optimal design are deficient, which tremendously hinders its application. This paper presents the kinematic/dynamic modeling and motion/force performance-based optimization of the 2-URR-RRU parallel manipulator. Firstly two rotation axes and one translation direction are found by mobility analysis based on screw theory. Then forward/inverse kinematic models are constructed for position analysis. Based on the kinematics, dynamics modeling is established through the Newton–Euler method. The Jacobian matrix, which relates the velocity of actuators and that of the end-effector, is deduced to investigate the singularity of the parallel manipulator. Analysis reveals that this manipulator only has inverse singularities, with no forward or combined singularities. In addition, its workspace is obtained with a compromise of main practical limitations. Furthermore, force/motion performance indices are employed for optimization of geometrical parameters. This study brings valuable kinematic/dynamic insights of the 2-URR-RRU parallel manipulator and is fundamental to further research in stiffness analysis and control system design.
Starting Page	503
Ending Page	519
Page Count	17
File Format	PDF
ISSN	0924090X
Journal	Nonlinear Dynamics
Volume Number	88
Issue Number	1
e-ISSN	1573269X
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-12-22
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Parallel manipulator Kinematics Dynamics Optimal design Vibration, Dynamical Systems, Control Classical Mechanics Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Applied Mathematics Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Aerospace Engineering

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