Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory
- Authors
- Kang, Long; Kim, Wheekuk; Yi, 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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