Study of Redundantly Actuated DELTA-Type Parallel Kinematic Mechanisms

Due to their high precision and dynamic properties, parallel kinematic manipulators (PKM) are particularly suited for high-speed and high-accuracy object handling. In order to improve their stiffness, their payload capacity and their accuracy PKM can be optimized using a redundant actuator configuration. Accordingly, additional actuators are added to PKM to generate an optimized performance. The objectives, in this context, are highly task oriented and can involve a wide range of the robot's topological and morphological parameters. Based on different tasks and optimization objectives, robots with unique specifications can be designed. In this study redundancy is used to show the effect of topological parameters of redundantly actuated DELTA-type parallel manipulators on general performance characteristics, such as the energy consumption of the robot. The topological characteristics of n-RRPaR manipulators in combination with actuator capabilities are considered as variables. It is shown that optimal torque distribution, chosen a proper topology, would enhance the manipulator's performance and may result in a more efficient energy consumption.