Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism

Abstract The singularity problem brings troubles to the design and application for the parallel mechanism. Currently, redundant actuation is one of the useful methods to solve this singularity problem. However, faced to the numerous joints in a parallel mechanism, how to make a quantitative criterio...

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Autores principales:	Chen Zhao, Jingke Song, Xuechan Chen, Ziming Chen, Huafeng Ding
Formato:	article
Lenguaje:	EN
Publicado:	SpringerOpen 2021
Materias:	Parallel mechanism 2R1T RCM Singularity Redundant actuation Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/f4f4094c15c140aa8ddc42e5eaba284c
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spelling	oai:doaj.org-article:f4f4094c15c140aa8ddc42e5eaba284c2021-12-05T12:03:36ZOptimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism10.1186/s10033-021-00651-71000-93452192-8258https://doaj.org/article/f4f4094c15c140aa8ddc42e5eaba284c2021-12-01T00:00:00Zhttps://doi.org/10.1186/s10033-021-00651-7https://doaj.org/toc/1000-9345https://doaj.org/toc/2192-8258Abstract The singularity problem brings troubles to the design and application for the parallel mechanism. Currently, redundant actuation is one of the useful methods to solve this singularity problem. However, faced to the numerous joints in a parallel mechanism, how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue. This paper focuses on a 2R1T 3-UPU (U for universal joint and P for prismatic joint) parallel mechanism (PM) with two rotational and one translational (2R1T) degrees of freedom (DOFs) and the ability of multiple remote centers of motion (M-RCM). The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singularity, constraint singularity, mixed singularity and limb singularity. To solve these singular problems, the quantifiable redundancy transmission index (RTI) and the redundancy constraint index (RCI) are proposed for optimum seeking of redundant actuators for this PM. Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity. This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.Chen ZhaoJingke SongXuechan ChenZiming ChenHuafeng DingSpringerOpenarticleParallel mechanism2R1TRCMSingularityRedundant actuationOcean engineeringTC1501-1800Mechanical engineering and machineryTJ1-1570ENChinese Journal of Mechanical Engineering, Vol 34, Iss 1, Pp 1-12 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Parallel mechanism 2R1T RCM Singularity Redundant actuation Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570
spellingShingle	Parallel mechanism 2R1T RCM Singularity Redundant actuation Ocean engineering TC1501-1800 Mechanical engineering and machinery TJ1-1570 Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
description	Abstract The singularity problem brings troubles to the design and application for the parallel mechanism. Currently, redundant actuation is one of the useful methods to solve this singularity problem. However, faced to the numerous joints in a parallel mechanism, how to make a quantitative criterion of seeking the most efficient joints added actuators for letting the mechanism passes through singularity is a necessarily open issue. This paper focuses on a 2R1T 3-UPU (U for universal joint and P for prismatic joint) parallel mechanism (PM) with two rotational and one translational (2R1T) degrees of freedom (DOFs) and the ability of multiple remote centers of motion (M-RCM). The singularity analysis based on the indexes of motion/force transmissibility and constraint shows that this PM has transmission singularity, constraint singularity, mixed singularity and limb singularity. To solve these singular problems, the quantifiable redundancy transmission index (RTI) and the redundancy constraint index (RCI) are proposed for optimum seeking of redundant actuators for this PM. Then the appropriate redundant actuators are selected and the working scheme for redundant actuators near the corresponding singular configuration are given to help the PM passes through the singularity. This research proposes a quantitative criterion to optimum seeking of redundant actuators for the parallel mechanism to solve its singularity.
format	article
author	Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding
author_facet	Chen Zhao Jingke Song Xuechan Chen Ziming Chen Huafeng Ding
author_sort	Chen Zhao
title	Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
title_short	Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
title_full	Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
title_fullStr	Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
title_full_unstemmed	Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
title_sort	optimum seeking of redundant actuators for m-rcm 3-upu parallel mechanism
publisher	SpringerOpen
publishDate	2021
url	https://doaj.org/article/f4f4094c15c140aa8ddc42e5eaba284c
work_keys_str_mv	AT chenzhao optimumseekingofredundantactuatorsformrcm3upuparallelmechanism AT jingkesong optimumseekingofredundantactuatorsformrcm3upuparallelmechanism AT xuechanchen optimumseekingofredundantactuatorsformrcm3upuparallelmechanism AT zimingchen optimumseekingofredundantactuatorsformrcm3upuparallelmechanism AT huafengding optimumseekingofredundantactuatorsformrcm3upuparallelmechanism
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Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism

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