Jianwen Zhao, Bo Huang, and Dingguo Hua
Parallel manipulators, payload, static analysis
For the limited-degrees of freedom parallel manipulators, the branches not only transfer actuation force, but also provide constraint force to the end-effectors. Based on static analysis and simulation results of a 3-PUU parallel manipulator, we found that a sharp increase in constraint torque happens on the universal joint even the mechanism is not in kinematics singularities. This sharp increase may cause overload on the joint bearing. Therefore, it is not appropriate to only use the kinematics Jacobian matrix to analyze the statics characteristic of the 3-PUU parallel manipulator. In this paper, therefore, we employed constraint Jacobian submatrix to analyze the reason of sharp increase in constraint torque, which is expected to serve as a reference for the design and motion planning of 3-PUU parallel manipulator.
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