0
Technical Briefs

Homing Strategy for a Redundantly Actuated Parallel Kinematic Machine

[+] Author and Article Information
Jinsong Wang, Liping Wang, Tiemin Li

Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R.C.

Jun Wu1

Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, P.R.C.wu-j03@mails.tsinghua.edu.cn

1

Corresponding author.

J. Mech. Des 130(4), 044501 (Feb 28, 2008) (5 pages) doi:10.1115/1.2839011 History: Received November 14, 2006; Revised July 28, 2007; Published February 28, 2008

In the homing process of a regular parallel kinematic machine (PKM), all servoaxes are independently driven to return to their homing positions. However, in a redundantly actuated PKM, the redundant limb will interfere with other servoaxes. This paper concerns the homing of a redundant four degree of freedom PKM, and an assistant homing strategy is proposed for the machine to pass the singular configuration in the homing process. After the assistant homing is finished, the other four nonredundant axes are driven to return to their home positions independently. Based on the kinematic model and the length of the redundant limb, the condition that the redundant limb performs assistant homing is determined. The homing strategy is incorporated into the numerical control system of the studied PKM. The test shows that the homing strategy is effective, and it can also be useful for other kinds of redundantly actuated PKMs.

FIGURES IN THIS ARTICLE
<>
Copyright © 2008 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Kinematic model of the parallel manipulator

Grahic Jump Location
Figure 2

Position workspace of the manipulator

Grahic Jump Location
Figure 3

Effect of home switch position on homing

Grahic Jump Location
Figure 4

Effect of singular configuration on homing

Grahic Jump Location
Figure 5

Relationship between length of Lr and α

Grahic Jump Location
Figure 6

Relationship between length of Lr and X

Grahic Jump Location
Figure 7

Redundantly actuated PKM

Grahic Jump Location
Figure 8

Velocity of extendible limb

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In