Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach
- Authors
- Shim, Ho-Seok; Seo, TaeWon; Lee, Jeh Won)
- Issue Date
- Jul-2013
- Publisher
- CAMBRIDGE UNIV PRESS
- Keywords
- Torque distribution; Redundantly actuation; Parallel mechanism; Geometrical approach; Stiffness matrix, Screw theory
- Citation
- ROBOTICA, v.31, no.4, pp.549 - 554
- Indexed
- SCIE
SCOPUS
- Journal Title
- ROBOTICA
- Volume
- 31
- Number
- 4
- Start Page
- 549
- End Page
- 554
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/26679
- DOI
- 10.1017/S0263574712000562
- ISSN
- 0263-5747
- Abstract
- In this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque. © 2012 Cambridge University Press.
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