A novel redundantly actuated parallel manipulator is developed in this paper. With the aid of redundant actuation, this manipulator can conquer Type II singularities within the workspace of the traditional planar 5R parallel manipulator. To investigate the dynamics, the D'Alembert principle is utilized to establish the dynamic model of the manipulator. Based on the method of minimizing the Euclidian 2-norm, the driving torques of active joints can be obtained, and then the constraint forces of all joints can also be obtained. Through inverse dynamic simulation, it is demonstrated that the redundantly actuated parallel manipulator has better dynamic performance in the nearby zone of Type Ⅱ singularities than the traditional planar 5R parallel manipulator.
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