Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Optimal Redundant Actuation of Parallel Manipulators with High Operational Stiffness

고강성 병렬형 로봇의 최적 여유 구동

  • Kim, Sung-Bok (Department of Control and Instrumentation Engineering, Hankuk University of Foeign Studies)
  • 김성복 (한국외국어대학교 제어계측공학과)
  • Published : 2000.02.01
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Abstract

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

Keywords

References

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