Force-unconstrained poses for a redundantly-actuated planar parallel manipulator

被引：59

作者：

Firmani, F ^{[1
]}

Podhorodeski, RP ^{[1
]}

机构：

[1] Univ Victoria, Dept Mech Engn, Robot & Mech Lab, Victoria, BC V8W 3P6, Canada

来源：

MECHANISM AND MACHINE THEORY | 2004年 / 39卷 / 05期

基金：

加拿大自然科学与工程研究理事会;

关键词：

D O I：

10.1016/j.mechmachtheory.2003.11.002

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

A study of the effect of including redundant actuators on the existence of force-unconstrained configurations for a planar parallel layout of joints is presented. The 3-branch, revolute-jointed, 8-bar configuration is considered in detail. This layout is referred to as a 3-RRR configuration to denote its three branches and the number of joints per branch. Concepts of reciprocal screw quantities and kinematic geometry are used to determine the feasibility of the existence of force-unconstrained positions. Redundant actuation is discussed from the perspective of eliminating families of degeneracies. For the 3-RRR it is shown that one order of infinity of unconstrained configurations is eliminated for each actuator, beyond three, added. (C) 2003 Published by Elsevier Ltd.

引用

页码：459 / 476

页数：18

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