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Motion/force transmissibility analysis and inverse kinematics optimization of kinematically redundant parallel mechanisms

Published online by Cambridge University Press:  11 August 2025

Licong Li Open the ORCID record for Licong Li [Opens in a new window] ,
Haifeng Zhang ,
Xiang Jin ,
Qiaohong Chen  and
Wei Ye Open the ORCID record for Wei Ye [Opens in a new window]
Licong Li
Affiliation:
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
Haifeng Zhang
Affiliation:
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
Xiang Jin
Affiliation:
School of Mechanical Engineering, Zhejiang Sci-Tech University, Hangzhou, 310018, China
Qiaohong Chen
Affiliation:
School of Computer Science and Technology, Zhejiang Sci-Tech University, Hangzhou, 310018, China
Wei Ye*
Affiliation:
National and Local Joint Engineering Research Center of Reliability Analysis and Testing for Mechanical and Electrical Products, Zhejiang Sci-Tech University, Hangzhou, 310018, China
*
Corresponding author: Wei Ye; Email: wye@zstu.edu.cn
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Abstract

Kinematically redundant parallel mechanisms (PMs) have attracted extensive attention from researchers due to their advantages in avoiding singular configurations and expanding the reachable workspace. However, kinematic redundancy introduces multiple inverse kinematics solutions, leading to uncertainty in the mechanism’s motion state. Therefore, this article proposes a method to optimize the inverse kinematics solutions based on motion/force transmission performance. By dividing the kinematically redundant PM into hierarchical levels and decomposing the redundancy, the transmission wrench screw systems of general redundant limbs and closed-loop redundant limbs are obtained. Then, input, output, and local transmission indices are calculated, respectively, to evaluate the motion/force transmission performance of such mechanisms. To address the problem of multiple inverse kinematics solutions, the local optimal transmission index is employed as a criterion to select the optimal motion/force transmission solution corresponding to a specific pose of the moving platform. By comparing performance atlas before and after optimization, it is demonstrated that the optimized inverse kinematics solutions enlarge the reachable workspace and significantly improve the motion/force transmission performance of the mechanism.

Keywords

parallel mechanismkinematic redundancyscrew theorymotion/force transmission performanceinverse kinematics solution optimization

Information

Type
Research Article
Information
Robotica , First View , pp. 1 - 22
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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