Analysis of parallel manipulators with redundant joints

잉여 조인트 병렬형 로봇의 해석

This paper presents the kinematic and dynamic analysis of parallel manipulators with redundant joints, obtained by putting additional active joints to an existing parallel manipulator. We develop the kinematic and dynamic models of a parallel manipulator with redundant joints. The redundancy in serial chain, due to the increased number of joints per limb, is considered in the modeling. Based oh the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with redundant joints. The effect of the redundant joints on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.