Parametric modeling and singularity analysis of a novel 6-PUS parallel robot driven by piezoelectric linear actuators

Focusing on large moment of inertia of Stewart-Gough platform, a novel 6-PUS parallel robot driven by piezoelectric linear actuators is proposed, which installs actuators on the static platform and the equivalent spherical hinge is applied, the accuracy has been further improved. First, we have esta...

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Bibliographic Details
Published in:Journal of mechanical science and technology 2024, 38(6), , pp.3131-3141
Main Authors: Xu, Dongmei, Xu, Chao, Cao, Chuqing, Yu, Simiao, Liu, Xianglong, Yang, Fan, Liang, Tenglin
Format: Article
Language:English
Subjects:
Actuators
Control
Dynamic models
Dynamical Systems
Engineering
Genetic algorithms
Industrial and Production Engineering
Kinematics
Mechanical Engineering
Modelling
Moments of inertia
Original Article
Parallel degrees of freedom
Piezoelectricity
Robots
Singularities
Vibration
기계공학
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Summary:Focusing on large moment of inertia of Stewart-Gough platform, a novel 6-PUS parallel robot driven by piezoelectric linear actuators is proposed, which installs actuators on the static platform and the equivalent spherical hinge is applied, the accuracy has been further improved. First, we have established the proposed robot’s kinematic and dynamic models. Besides, the singularity is analyzed by combining genetic algorithm with bisection method, which can successfully detect all singular points and limit them to small intervals in multi-DOF (degree of freedom) motion. Finally, we have verified the validity of models and feasibility of the method for singularity analysis. The errors between simulation results in Adams and theoretical models in Matlab/Simulink are less than 0.1 %. This paper offers theoretical bases for parametric modeling and singularity analysis of related 6-DOF parallel robots.
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-024-0531-0