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Research Papers

Dexterity and Adaptive Control of Planar Parallel Manipulators With and Without Redundant Actuation

[+] Author and Article Information
Weiwei Shang

Department of Automation,
University of Science and Technology of China,
Hefei, Anhui 230027, China
e-mail: wwshang@ustc.edu.cn

Shuang Cong

Department of Automation,
University of Science and Technology of China,
Hefei, Anhui 230027, China
e-mail: scong@ustc.edu.cn

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received May 2, 2012; final manuscript received April 27, 2014; published online September 12, 2014. Assoc. Editor: Jozsef Kovecses.

J. Comput. Nonlinear Dynam 10(1), 011002 (Sep 12, 2014) (11 pages) Paper No: CND-12-1067; doi: 10.1115/1.4027581 History: Received May 02, 2012; Revised April 27, 2014

The objective of this paper is to determine whether a planar parallel manipulator with redundant actuation has better tracking accuracy than a planar parallel manipulator without redundant actuation. The effects of the redundant actuation on tracking accuracy of parallel manipulators are studied by using two different experimental platforms. The first platform is the planar five-bar parallel manipulator with normal actuation, and the other one is the planar parallel manipulator with redundant actuation. The dexterity pictures and the kinematic configurations of the two platforms validate the kinematic advantages from the redundant actuation. In order to study the dynamic advantages of the redundant actuation further, a nonlinear adaptive controller is presented for the two platforms. The experimental comparison is implemented on two actual parallel manipulator platforms, and from the experimental results, one can find the tracking accuracy of the parallel manipulator with redundant actuation can be improved above 38% than that of the five-bar parallel manipulator without redundant actuation.

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Figures

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Fig. 1

Coordinates of the planar five-bar parallel manipulator

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Fig. 2

Inverse kinematic configurations of the five-bar parallel manipulator

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Fig. 3

Dexterity index pictures of the planar five-bar parallel manipulator

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Fig. 4

Coordinates of the planar redundantly actuated parallel manipulator

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Fig. 5

Kinematic configurations of the planar redundantly actuated parallel manipulator

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Fig. 6

Dexterity index pictures of the planar redundantly actuated parallel manipulator

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Fig. 7

The prototype of the planar parallel manipulators: (a) without redundant actuation and (b) with redundant actuation

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Fig. 8

Circular trajectory tracking errors of the end effector: (a) in the X-direction and (b) in the Y-direction

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Fig. 9

Linear trajectory tracking errors of the end effector: (a) in the X-direction and (b) in the Y-direction

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