제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Dexterity modulation of parallel manipulators using joint freezing/releasing and joint unactuation/actuation

  • Youm, Sungkwan (Dept. of Control and Instrumentation Eng., Hankuk University of Foreign Studies) ;
  • So, Jinho (Dept. of Control and Instrumentation Eng., Hankuk University of Foreign Studies) ;
  • Kim, Sungbok (Dept. of Control and Instrumentation Eng., Hankuk University of Foreign Studies)
  • Published : 1997.10.01
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Abstract

This paper presents the modulation of the dexterity of a parallel manipulator using joint freezing/releasing and joint unactuation/actuation. In this paper, individual limbs have redundant number of joints, and each joint can be frozen/released and unactuated/actuated, as needed. First, given a task, the restrictions on joint freezing and joint unactuation of a parallel manipulator are derived. Next, with/without joint freezing and/or joint unactuation, the kinematics of a parallel manipulator is formulated, based on which the manipulability ellipsoid is defined. The effects of joint freezing and joint unactuation on the manipulability are analyzed and compared. Finally, simulation results for a planar parallel manipulator are given. Joint mechanisms, such as joint freezing and joint unactuation, are rather simple to adopt into a parallel manipulator, but is quite effective to improve the task adaptability of the system.

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