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Design and analysis of decoupled parallel mechanism with redundant actuator

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Abstract

This paper presents a redundantly actuated six degrees-of-freedom parallel kinematic mechanism with a partially decoupled architecture in its rotational motion. This mechanism is developed to eliminate kinematic complexity of original Eclipse-II known as a redundant parallel mechanism. Since the original Eclipse-II mechanism use kinematic redundancy of parallel mechanism to achieve an advantage in enlarging the workspace of the system, it needs a motion planning algorithm to choose the specific control inputs to determine the desired motion trajectory. This motion planning algorithm causes difficulty in achieving real-time control performance due to its structural complexity. However the redundant parallel mechanism presented in this paper is a redundant parallel mechanism with partially decoupled architecture in its rotational motion. Therefore modified Eclipse-II redundant parallel mechanism can realize effective real-time control performances and continuous 360-degree rotational motion in any direction of the moving platform with six degrees of freedom.

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Abbreviations

A i :

Prismatic joints along the horizontal circular guide

B i :

Spherical joints on the moving platform

C i :

Prismatic joints on the vertical columns (i = 1,2,3)

{F}:

Fixed global reference frame

{M}:

Moving frame

α, β, γ :

ZYX Euler angles of rotation about the three joint axes of rider

α′, β′, γ′, δ′ :

ZYXZ′ Euler angles of rotation about the four joint axes of chair on the moving platform of the Eclipse-II one-man ride machine

α″, β″, δ″ :

ZYX Euler angles of rotation about the three joint axes of chair on the moving platform of the modified Eclipse-II one-man ride machine

Rcommand, Rcontrol, Rmodified_control:

Rotation matrices

References

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Authors and Affiliations

  1. School of Mechanical and Aerospace Engineering, Seoul National University, Seoul, South Korea, 151-742

    Sun Ho Kim, Dongsu Jeon, Hyun Pyo Shin, Woosung In & Jongwon Kim

Authors
  1. Sun Ho Kim
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  2. Dongsu Jeon
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  3. Hyun Pyo Shin
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  4. Woosung In
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  5. Jongwon Kim
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Correspondence to Jongwon Kim.

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Kim, S.H., Jeon, D., Shin, H.P. et al. Design and analysis of decoupled parallel mechanism with redundant actuator. Int. J. Precis. Eng. Manuf. 10, 93–99 (2009). https://doi.org/10.1007/s12541-009-0076-2

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  • DOI: https://doi.org/10.1007/s12541-009-0076-2

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