Force redundancy in parallel manipulators: Theoretical and practical issues

被引：142

作者：

Dasgupta, B ^{[1
]}

Mruthyunjaya, TS

机构：

[1] Indian Inst Technol, Dept Engn Mech, Kanpur 208016, Uttar Pradesh, India

[2] Indian Inst Sci, Dept Engn Mech, Bangalore 560012, Karnataka, India

来源：

MECHANISM AND MACHINE THEORY | 1998年 / 33卷 / 06期

关键词：

D O I：

10.1016/S0094-114X(97)00094-3

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

In contrast to kinematic redundancy (widely studied in literature) in serial manipulators, the natural choice should be force (static) redundancy in parallel manipulators. In this paper, the force redundancy has been studied as the series-parallel dual concept of kinematic redundancy and its implications in kinematics and dynamics of parallel manipulators are described. In particular, its effective utilization in reduction and elimination of static singularities of parallel manipulators is demonstrated. Numerical studies are also presented for two parallel manipulators to demonstrate the singularity reduction by a single degree of redundancy. (C) 1998 Elsevier Science Ltd. All rights reserved.

引用

页码：727 / 742

页数：16

共 37 条

[1] ON THE INVERSE KINEMATICS OF REDUNDANT MANIPULATORS [J].

BAKER, DR ;

WAMPLER, CW .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1988, 7 (02) :3-21

[2]

Ball R.S., 1900, A Treatise on the Theory of Screws

[3] REAL-TIME MANIPULATION OF A HYBRID SERIAL-AND-PARALLEL-DRIVEN REDUNDANT INDUSTRIAL MANIPULATOR [J].

CHENG, HH .

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 1994, 116 (04) :687-701

[4]

COLLINS CL, 1995, IEEE INT CONF ROBOT, P526, DOI 10.1109/ROBOT.1995.525337

[5] THE SINGULARITY ANALYSIS OF AN IN-PARALLEL HAND CONTROLLER FOR FORCE-REFLECTED TELEOPERATION [J].

COLLINS, CL ;

LONG, GL .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1995, 11 (05) :661-669

[6]

DANIALI HRM, 1995, MECH MACH THEORY, V30, P665

[7] Singularity-free path planning for the Stewart platform manipulator [J].

Dasgupta, B ;

Mruthyunjaya, TS .

MECHANISM AND MACHINE THEORY, 1998, 33 (06) :711-725

[8] A STEWART PLATFORM-BASED MANIPULATOR - GENERAL-THEORY AND PRACTICAL CONSTRUCTION [J].

FICHTER, EF .

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1986, 5 (02) :157-182

[9] SINGULARITY ANALYSIS OF CLOSED-LOOP KINEMATIC CHAINS [J].

GOSSELIN, C ;

ANGELES, J .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1990, 6 (03) :281-290

[10]

GOSSELIN CM, 1992, ROBOTICS SPATIAL MOT, V45, P329

← 1 2 3 4 →