Analaysis and design of redundant parallel manipulators

여유 자유도 병렬형 로봇의 분석 및 설계

  • 김성복 (한국외국어대학교 제어계측공학과)
  • Published : 1997.10.01


This paper presents the analysis of the kinematics and dynamics of redundant parallel manipulators, and provides design guides for advanced parallel mainpulators with high performance. Three types of redundancies are considered which include the redundancies in serial chain, joint actuation, and parallelism. First, the kinematic and dynamic models of a redundant parallel manipulator are obtained in both joint and Cartesian spaces, and the kinematic and dynamic manipulabilities are defined for the performance evaluation. The effects of the three types of redundancies on the kinematic and dynamic performance of a parallel manipulator are then analyzed and compared, providing a set of guides for the design of advanced parallel manipulators. Finally, the simulation results using planer parallel manipulators are given.


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