Specific Kinematic Changes in a Linear-Actuated Parallel Mechanism According to Differences in Actuator Arrangement.

Specific kinematic changes in a linear-actuated parallel mechanism according to differences in actuator arrangement

Parallel mechanisms driven by fixed linear actuators promise high speed and high output, thanks to lightweight movable parts. Several types of mechanism applying this mechanical principle are already known. Although these have different methods of actuator arrangement, they may be considered the same mechanism since they can be treated using the same kinematics. However, it is not known how the...

Kinematic Calibration for Redundantly Actuated Parallel Mechanisms

We present a new kinematic calibration algorithm for redundantly actuated parallel mechanisms, and illustrate the algorithm with a case study of a planar seven-element 2-degree-of-freedom (DOF) mechanism with three actuators. To calibrate a nonredundantly actuated parallel mechanism, one can find actual kinematic parameters by means of geometrical constraint of the mechanism’s kinematic structu...

Kinematic Optimization of a Redundantly Actuated Parallel Mechanism for Maximizing Stiffness and Workspace Using Taguchi Method

We present an optimization procedure that uses the Taguchi method to maximize the mean stiffness and workspace of a redundantly actuated parallel mechanism at the same time. The Taguchi method is used to separate the more influential and controllable variables from the less influential ones among kinematic parameters in workspace analysis and stiffness analysis. In the first stage of optimizati...

Kinematic Analysis of a Macro-Micro Redundantly Actuated Parallel Manipulator

In this paper the kinematic and Jacobian analysis of a macro–micro parallel manipulator is studied in detail. The manipulator architecture is a simplified planar version adopted from the structure of the Large Adaptive Reflector (LAR), the Canadian design of the next generation of giant radio telescopes. This structure is composed of two parallel and redundantly actuated manipulators at the mac...

Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy