Redundant Actuation Research Of 5-UPS/PRPU Parallel Machine Tools

Parallel Machine Tools (PMTs) is the productions of many subjects,including Parallel Robotics,Mechanical Manufacturing,Computer technology,and so on. PMTs profitably complement the traditional NC machine tools as anew-style Special Machine Tools,which have splendid future and high scientificresearch value. The paper focuses on the research of correlated aspects of theRedundant Actuation PMTs. The main contents are as follows:Firstly, the paper detailedly introduce the developing and researching statusabout Parallel Robots,PMTs and Redundant Actuation home and aboard, andset forth the scientific meanings of the research topic.Then the paper classify and define Redundant Actuation of Parallel Robotin the first time systematically, and establish the kinematic equation ofRedundant Actuation 5-UPS/PRPU PMTs.The input selecting theory of Spatial Parallel Robot based on Screw Theoryare adopted for analysis the input selection of Redundant Actuation5-UPS/PRPU PMTs, then the input selecting characteristic of the RedundantActuation Spatial Parallel Robot are presented.The dynamics model of Redundant Actuation 5-UPS/PRPU PMTs is builtby applying Lagrange Equation. According to the model, the optimizing methodof actuating force programming are presented, which suitably used on thecommon Redundant Actuation Parallel Robot.At last part, the construction of the redundant actuation equipment ofRedundant Actuation 5-UPS/PRPU PMTs are presented, and its controllingmethod and realizing process are discussed respectively.