REDUNDANT PARALLEL MECHANISM WITH LESS ACTUATION AND MULTI-DEGREE-OF-FREEDOM OUTPUTS AND CONTROL METHOD THEREOF

A redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and a control method thereof are provided, which relate to the field of robot mechanisms. The redundant parallel mechanism includes: a fixed platform, a moving platform, multiple moving branch chains, and one or m...

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Bibliographische Detailangaben
Hauptverfasser:	XU, YUNDOU, PANG, XIAOYU, ZHAO, YONGSHENG, GAO, PENGYANG, NIE, SHENGLONG, ZHANG, YIMING
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	A redundant parallel mechanism with less actuation and multi-degree-of-freedom outputs and a control method thereof are provided, which relate to the field of robot mechanisms. The redundant parallel mechanism includes: a fixed platform, a moving platform, multiple moving branch chains, and one or more redundant branch chains. Two ends of each moving branch chain are respectively connected to the fixed platform and the moving platform, and a brake is arranged on each moving branch chain. Two ends of each redundant branch chain are respectively connected to the fixed platform and the moving platform, and an actuating part is arranged on each redundant branch chain. There are n redundant branch chains arranged. During control, the number of follow-up moving branch chains is set to n, and the n moving branch chains move to expected positions and postures under the control of the n redundant branch chains.