Redundant Parallel Mechanism with Selective Actuation
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Solution Overview
Problem
Existing redundant parallel mechanisms require more actuators than degrees of freedom, making them difficult to control and increasing engineering application complexity due to higher costs and complexity.
Innovation Solution
A redundant parallel mechanism with fewer actuation parts and multi-degree-of-freedom outputs is designed, featuring a fixed and moving platform, multiple moving branch chains with brakes, and redundant branch chains with actuating parts, allowing for controlled adjustments through a method that locks and releases branches to achieve desired positions and postures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If redundant actuation parallel mechanisms are used to improve bearing capacity, then rigidity and working space are improved, but the number of actuators increases making control more difficult and engineering application less feasible
Solution Approach 1:
The patent applies dynamics by making the mechanism's structure changeable through selective activation. The parallel mechanism can dynamically switch between different operational configurations by activating or deactivating specific branch chains based on task requirements, allowing the system to adapt its degree of redundancy rather than maintaining fixed high redundancy throughout operation.
Solution Approach 2:
The patent changes the parameter of actuator quantity dynamically. By controlling the activation state of different branch chains, the effective number of actuators participating in operation changes according to task needs, transforming a static high-redundancy system into a dynamic system with adjustable redundancy levels.
2Reliability
If redundant actuation parallel mechanisms are used to avoid singularity posture and improve rigidity, then working space and machining quality are improved, but control difficulty and cost increase
Solution Approach 1:
The mechanism dynamically adjusts its configuration by selectively activating branch chains, allowing it to transition between different operational states. This dynamic reconfiguration enables the system to avoid singularity postures by changing its structural configuration when approaching singular configurations, rather than relying solely on high redundancy throughout all operations.
Solution Approach 2:
The patent segments the parallel mechanism into multiple independent branch chains that can be selectively activated or deactivated. This segmentation allows the system to divide the overall motion task among different branch chains, enabling singularity avoidance by switching active branches when necessary, while reducing control complexity by managing smaller independent units rather than a fully coupled high-redundancy system.
Data Source
AI summary
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.