Analysis of parallel manipulators with actuation redundancy

잉여 구동 병렬형 로봇의 해석

  • 김성복 (한국외국어대학교 제어계측공학과 (Tel:0335-30-4091)) ;
  • 김순석
  • Published : 1996.10.01

Abstract

This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.

Keywords