Analysis of a 6-DOF redundantly actuated 4-legged parallel mechanism

Mohammad H. Abedinnasab, G. R. Vossoughi

Research output: Contribution to journalArticlepeer-review

37 Scopus citations


In this paper, we propose a new 4-legged 6-DOF redundantly actuated UPS parallel mechanism. Kinematics, singularity and dynamics analyses of the proposed mechanism are addressed. Inverse kinematics has a closed-form solution, whereas the forward kinematics has a semi-closed form solution. Also, the Jacobian matrix has been determined using the concept of reciprocal screws. Using the principle of virtual work and minimum norm method, a general formulation for the inverse dynamics of redundantly actuated parallel manipulator is presented. Moreover, the proposed redundant mechanism has been compared with a similar but nonredundant mechanism in three aspects: reachable points, and actuation forces under static and dynamic conditions. We show that the redundancy decreases singular points, and dramatically reduces the actuators' forces and torques.

Original languageEnglish (US)
Pages (from-to)611-622
Number of pages12
JournalNonlinear Dynamics
Issue number4
StatePublished - Dec 2009
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Ocean Engineering
  • Mechanical Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering


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