High Speed Parallel Mechanism Research Articles

Bifurcation and chaotic behaviors of 4-UPS-RPS high-speed parallel mechanism

In order to grasp the nonlinear characteristics of high-speed spatial parallel mechanism, the bifurcation and chaotic behaviors of 4-UPS-RPS mechanism are analyzed. Firstly, the nonlinear elastic dynamic model of the mechanism is established by using the Lagrange equation and the finite element method. Then the effects of parameters including driving angular velocity, the radius of motion trajectory, the material of driving limbs, the diameter of driving limbs, and the mass of moving platform, on the bifurcation and chaotic behaviors of high-speed spatial parallel mechanism are studied. The results show that the above parameters all have a certain influence on nonlinear characteristics of the 4-UPS-RPS high-speed spatial parallel mechanism. The research can provide important theoretical basis for the further research on the non-linear dynamics of spatial parallel mechanism.

駆動冗長性を有する高速パラレルメカニズムの高精度制御のための運動学的冗長自由度の導入方法

駆動冗長性を有する高速パラレルメカニズムの高精度制御のための運動学的冗長自由度の導入方法

2A2-B03 駆動冗長性を有する高速パラレルメカニズムにおける内力の低減化と高精度動作の実現

2A2-B03 駆動冗長性を有する高速パラレルメカニズムにおける内力の低減化と高精度動作の実現

仮想駆動力冗長性に基づく４自由度高速パラレル・メカニズムの開発

仮想駆動力冗長性に基づく４自由度高速パラレル・メカニズムの開発

Design of a planar-type high speed parallel mechanism positioning platform with the capability of 180 degrees orientation

This paper presents a planar-type redundantly actuated parallel mechanism, for which the maximum velocity is 150 m/min with an acceleration of 2 g. The velocity is one of the highest for positioning platforms with the stroke around 500 mm. Since it has three degrees-of-freedom and four actuators, it has basically one redundancy that is essential to achieve high-degree dexterous motions. This paper deals with the theoretical results of kinematic and dynamic analysis of the mechanism, control issues for maintaining high velocity and positioning accuracy, redundancy control issue, and finally, the experimental results obtained from the prototype.