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Advances in Robotics Research Volume 1, Number 2, April 2014 , pages 141-154 DOI: https://doi.org/10.12989/arr.2014.1.2.141 |
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Deformation analysis of a 3-DOF parallel manipulator with one or two additional branches |
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Xiaolei Chen, Jun Wu, Guang Yu and Liping Wang
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| Abstract | ||
| Redundant parallel manipulators have some advantages over the nonredundant parallel manipulators. It is important to determine how many additional branches should be introduced. This paper studies whether one or two additional branches should be added to a 3-DOF parallel manipulator by comparing the flexible deformation of a 3-DOF parallel manipulator with one additional branch and that with two additional branches. The kinematic and dynamic models of the redundant parallel manipulator are derived and the flexible deformation is investigated. The flexible deformation of the manipulators with one additional branch and two branches is simulated and compared. This paper is helpful for designers to design a redundantly actuated parallel manipulator. | ||
| Key Words | ||
| parallel manipulator; flexible deformation; principal of virtual work; dynamics | ||
| Address | ||
| (1) Xiaolei Chen, Jun Wu, Guang Yu and Liping Wang: Institute of Manufacturing Engineering, Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; (2) Xiaolei Chen, Jun Wu, Guang Yu and Liping Wang: Beijing Key Lab of Precision/Ultra-precision Manufacturing Equipments and Control, Beijing 100084, China. | ||
