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Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory

Authors
Kang, LongKim, WheekukYi, Byung-Ju
Issue Date
Dec-2017
Publisher
American Society of Mechanical Engineers
Keywords
parallel mechanisms; theoretical kinematics; screw theory; kinematic redundancy; actuation redundancy
Citation
Journal of Mechanisms and Robotics, v.9, no.6, pp.1 - 12
Indexed
SCIE
SCOPUS
Journal Title
Journal of Mechanisms and Robotics
Volume
9
Number
6
Start Page
1
End Page
12
URI
https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/8428
DOI
10.1115/1.4037805
ISSN
1942-4302
Abstract
Two kinds of mechanical redundancies, namely kinematic redundancy and actuation redundancy, have been extensively studied due to their advantageous features in autonomous industry. Screw theory has been successfully applied to develop an analytical Jacobian of nonredundant parallel manipulators (PMs). However, to the best of our knowledge, screw theory has not been attempted for modeling of PMs with kinematic redundancies. Thus, first, through the mobility analysis of a simple nonredundant planar PM and its variations, this paper reviews kinematic and actuation redundancy systematically. Then, we demonstrated how to derive analytical Jacobian and also static force relationship for a PM with both kinematic and actuation redundancies by using the screw theory. Finally, simulations were performed to demonstrate the advantageous features of kinematic and actuation redundancies.
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ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)
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