ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Calculation method and application of 6-D hyperellipsoid quantifying workspace of 6-DOF parallel manipulators
Received date: 2015-05-07
Revised date: 2015-06-27
Online published: 2015-07-27
Supported by
National Natural Science Foundation of China (51205195, 61403204); Natural Science Foundation of Jiangsu Province (BK20130981); Foundation for Advanced Degree Talents of Nanjing Forestry University (GXL201316)
A method to quantify the workspace of 6-DOF parallel manipulator using six-dimensional hyperellipsoid is proposed based on structural optimization requirements of helmet mounted display servo system. The method is made up of two parts:the calculation of two-dimensional circling ellipse and the computation of the corresponding hyperellipsoid. The former part is developed firstly, and the definition of circling ellipse and the corresponding conceptions are also proposed, such as modification step of the center and the longitudinal axis of circling ellipse, the modification factor of the axes' length of circling ellipse, etc. The dynamic modifications of the center and axes length of circling ellipse are implemented, and the accuracy and intellectual ability of the method are improved. The adjustment coefficients of modification step above are adopted to ensure the convergence of the calculation. Secondly, the conditions and methods to identify circling ellipse are developed, and the method of computing hyperellipsoid based on fifteen circling ellipse is also proposed. Finally, example to verify the validity of the novel method is developed, and the feasibility and practicability of the proposed method in workspace optimization are also tested. It is pointed out that circling ellipses calculated satisfy the identification conditions above, and the validity of the proposed method is better. Hyperellipsoid describing target workspace is contained completely by the other one which inscribes the workspace of optimization result, so the proposed method is feasible and practical for workspace optimization of 6-DOF parallel manipulator.
LI Peng , WU Dongsu , ZHENG Yan , SHI Zheng , JIN Xingyue . Calculation method and application of 6-D hyperellipsoid quantifying workspace of 6-DOF parallel manipulators[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015 , 36(12) : 4001 -4013 . DOI: 10.7527/S1000-6893.2015.0190
[1] Li P, Gu H B, Wu D S. Dimensional design and corresponding methodology for helmet mounted display with 6-DOF parallel manipulator based on requirements of head motion[J]. Acta Aeronautica et Astronautica Sinica, 2011, 32(4):739-750(in Chinese).李鹏,顾宏斌,吴东苏.基于头部运动要求的六自由度头盔伺服系统尺寸优化设计及其方法[J].航空学报, 2011, 32(4):739-750.
[2] Li P, Gu H B, Wu D S, et al. Active compliance control of helmet mounted display with parallel manipulator[J]. Acta Aeronautica et Astronautica Sinica, 2012, 33(5):928-939(in Chinese).李鹏,顾宏斌,吴东苏,等.头盔伺服系统的主动柔顺控制研究[J].航空学报, 2012, 33(5):928-939.
[3] Li P, Gu H B, Wu D S. Dynamics model of helmet mounted display with a 6-DOF parallel manipulator and corresponding verification[J]. China Mechanical Engineering, 2013, 24(9):1201-1209(in Chinese).李鹏,顾宏斌,吴东苏.头盔伺服系统执行机构的动力学建模及其验证[J].中国机械工程, 2013, 24(9):1201-1209.
[4] Cheng G, Qiu B J, Yang D H, et al. Workspace analysis of 3-CPS parallel micro-manipulator for mirror active adjusting platform[J]. Journal of Mechanical Science and Technology, 2013, 27(12):3805-3816.
[5] Lee D H, Kim J W, Seo W T. Optimal design of 6-DOF eclipse mechanism based on task-oriented workspace[J]. Robotica, 2011, 30(7):1041-1048.
[6] Herrero S, Mannheim T, Prause I, et al. Enhancing the useful workspace of a reconfigurable parallel manipulator by grasp point optimization[J]. Robotics and Computer-Integrated Manufacturing, 2015, 31:51-60.
[7] Hosseini M A, Daniali HM. Cartesian workspace optimization of Tricept parallel manipulator with machining application[J]. Robotica, 2014,DOI:10.1017/S0263574714000861(in press).
[8] Karimi A, Masouleh M T, Cardou P. Singularity-free workspace analysis of general 6-UPS parallel mechanisms via convex optimization[J]. Mechanism and Machine Theory, 2014, 80:17-34.
[9] Zhang C, Zhang L Y. Kinematics analysis and workspace investigation of a novel 2-DOF parallel manipulator applied in vehicle driving simulator[J]. Robotics and Computer-Integrated Manufacturing, 2013, 29:113-120.
[10] Fang H, Xin B, Zhang X. Workspace-constrained optimal design of three-degrees-of-freedom parallel manipulators with minimum parasitic motions by integrating interval analysis, region mapping and differential evolution[J]. Engineering Optimization, 2015, 47(3):407-428.
[11] Loloei A Z, Taghirad H D. Controllable workspace of cable driven redundant parallel manipulator with more than one degree of redundancy[C]//2nd International Conference on Control, Instrumentation and Automation. Shiraz:University of Shiraz, 2011:898-903.
[12] Zi B, Cao J B, Zhu Z C, et al. Design, dynamics, and workspace of a hybrid-driven-based cable parallel manipulator[J]. Mathematical Problems in Engineering, 2013, DOI:10.1155/2013/914653(in press).
[13] Qazani M R C, Pedrammehr S. Kinematic analysis and workspace determination of hexarot-a novel 6-DOF parallel manipulator with a rotation-symmetric arm system[J]. Robotica, 2014, DOI:10.1017/S0263574714000988(in press).
[14] Chi Z Z, Zhang D, Xia L, et al. Multi-objective optimization of stiffness and workspace for a parallel kinematic machine[J]. International Journal of Mechanics and Materials Design, 2013, 9(3):281-293.
[15] Li B, Chen S C, Zhang D. Analysis and optimal design of a spherical parallel manipulator with three rotational degrees of freedom[C]//Proceedings of Robotics in Smart Manufacturing. Coimbra:University of Coimbra, 2013:71-83.
[16] Toz M, Kucuk S. Dexterous workspace optimization of an asymmetric six-degree of freedom Stewart-Gough platform type manipulator[J]. Robotics and Autonomous Systems, 2013, 61(12):1516-1528.
[17] Shirazi A R, Fakhrabadi M M S, Ghanbari A. Analysis and optimization of the 5-RPUR parallel manipulator[J]. Advanced Robotics, 2014, 28(15):1021-1031.
[18] Lu Y, Zhang X L, Sui C P, et al. Kinematics statics and workspace analysis of a 3-leg 5-DoF parallel manipulator with a UPU-type composite active constrained leg[J]. Robotica, 2012, 31(2):183-191.
[19] Huang Z. The parallel robot manipulator and its mechanism theory[J]. Journal of Yanshan University, 1998, 22(1):13-17(in Chinese).黄真.并联机器人及其机构学理论[J].燕山大学学报, 1998, 22(1):13-17.
[20] Masory O, Wang J. Workspace evaluation of Stewart platforms[J]. Advanced Robotics, 1995, 9(4):443-461.
[21] Advani S K. The kinematic design of flight simulator motion-bases[D]. Mekelweg:Delft University, 1998.
[22] Advani S K, Nahon M A, Haeck N, et al. Optimization of six-degrees-of-freedom motion systems for flight simulators[J]. Journal of Aircraft, 1999, 36(5):819-826.
[23] Wu D S. Advanced control technology research of light flight simulator motion platform[D]. Nanjing:Nanjing University of Aeronautics and Astronautics, 2007(in Chinese).吴东苏.轻型飞行模拟器运动平台先进控制技术研究[D].南京:南京航空航天大学, 2007.
/
| 〈 |
|
〉 |
CJA