An introduction to utilising the redundancy of a kinematically redundant parallel manipulator to operate a gripper

被引：39
作者：
Isaksson, Mats [1 ]
Gosselin, Clement [2 ]
Marlow, Kristan [3 ]
机构：
[1] Colorado State Univ, Dept Elect & Comp Engn, Ft Collins, CO 80523 USA
[2] Univ Laval, Dept Mech Engn, Quebec City, PQ G1V 0A6, Canada
[3] Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds Campus, Geelong, Vic 3217, Australia
来源：
MECHANISM AND MACHINE THEORY | 2016年 / 101卷
基金：
加拿大自然科学与工程研究理事会;
关键词：
Parallel manipulator; Gripper; Kinematic redundancy; Rotational workspace; OPTIMAL-DESIGN; MECHANISM; 4-DOF;
D O I：
10.1016/j.mechmachtheory.2016.03.006
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Although parallel manipulators provide several benefits compared to similar-sized serial manipulators, they typically exhibit a limited rotational workspace. One approach to designing a parallel manipulator with infinite range of tool rotation around one axis is to introduce kinematic redundancy. This is typically achieved by extending a non-redundant mechanism with an additional actuator and a supplemental degree of freedom, while the degrees of freedom of the tool platform remain the same. The main drawback of this approach is the cost of the additional actuator. In this paper, we discuss the possibility of harvesting the motion in the additional degree of freedom to operate a gripper. The benefits of the proposed idea include saving the cost of a gripper actuator and reducing the mass of the manipulated platform. Additionally, the requirement to provide the manipulated platform with compressed air or electric power is removed. Several variants of a kinematically redundant manipulated platform with five degrees of freedom are introduced along with conceptual mechanical designs for transforming the redundant platform motion into the opening and closing of a gripper. (C) 2016 Elsevier Ltd. All rights reserved.
引用
收藏
页码：50 / 59
页数：10
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