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Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy

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Abstract

In this paper, a novel planar parallel manipulator with kinematic redundancy is proposed. First, the Degrees of freedom (DOF) of the whole parallel manipulator and the Relative DOF (RDOF) between the moving platform and fixed base are studied. The results indicate that the proposed mechanism is kinematically redundant. Then, the kinematics, Jacobian matrices and workspace of this proposed parallel manipulator with kinematic redundancy are analyzed. Finally, the statics simulation of the proposed parallel manipulator is performed. The obtained stress and displacement distribution can be used to determine the easily destroyed place in the mechanism configurations.

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Authors and Affiliations

  1. Robotics Institute, School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing, 100044, China

    Haibo Qu & Sheng Guo

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  1. Haibo Qu
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  2. Sheng Guo
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Correspondence to Haibo Qu.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Haibo Qu received his Ph.D. degree from Beijing Jiaotong University in 2013. Currently he is an Associate Professor at Robotics Institute at Beijing Jiaotong University. His research interests include parallel manipulator and mechanism theory.

Sheng Guo received his Ph.D. degree from Beijing Jiaotong University in 2005. He was then a postdoctor at National Cheng Kung University in 2005-2006. He was a Visiting Scholar at University of California, Irvine, US, in 2010-2011. Currently He is a Full Professor, Vice Director of Robotics Institute, and Vice Dean of School of Mechanical, Electronic and Control Engineering, at Beijing Jiaotong University. His research interests include robotics mechanism and mechatronics.

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Qu, H., Guo, S. Kinematics analysis of a novel planar parallel manipulator with kinematic redundancy. J Mech Sci Technol 31, 1927–1935 (2017). https://doi.org/10.1007/s12206-017-0341-8

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  • DOI: https://doi.org/10.1007/s12206-017-0341-8

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