제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.535-538
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- 1996
Analysis of parallel manipulators with actuation redundancy
잉여 구동 병렬형 로봇의 해석
Abstract
This paper presents the kinematic and dynamic analysis of parallel manipulators with actuation redundancy, obtained by replacing the passive joints of an existing parallel manipulator with the active ones. We develop the kinematic and dynamic models of a parallel manipulator with actuation redundancy. The multiplicity in selecting the controllable active joints among the increased number of active joints is considered in the modeling. Based on the derived models, we define the kinematic and dynamic manipulabilities of a parallel manipulator with actuation redundancy. The effect of the actuation, redundancy on the performance of parallel manipulators is analyzed in terms of kinematic and dynamic manipulabilities.
Keywords
- parallel manipulator;
- actuation redundancy;
- kinematic/dynamic modeling;
- kinematic/dynamic manipulability