Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
نویسندگان
چکیده
Abstract The singularity problem brings troubles to the design and application for parallel mechanism. Currently, redundant actuation is one of useful methods solve this problem. However, faced numerous joints in a mechanism, how make quantitative criterion seeking most efficient added actuators letting mechanism passes through necessarily open issue. This paper focuses on 2R1T 3-UPU (U universal joint P prismatic joint) (PM) with two rotational translational (2R1T) degrees freedom (DOFs) ability multiple remote centers motion (M-RCM). analysis based indexes motion/force transmissibility constraint shows that PM has transmission singularity, mixed limb singularity. To these singular problems, quantifiable redundancy index (RTI) (RCI) are proposed optimum PM. Then appropriate selected working scheme near corresponding configuration given help research proposes its
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ژورنال
عنوان ژورنال: Chinese Journal of Mechanical Engineering
سال: 2021
ISSN: ['1000-9345', '2192-8258']
DOI: https://doi.org/10.1186/s10033-021-00651-7