Force Transmission Analyses with Dimensionally Homogeneous Jacobian Matrices for Parallel Manipulators

  • Kim, Sung-Gaun (Department of Mechatronics, Gwangju Institute of Science and Technology) ;
  • Jeha Ryu (Department of Mechatronics, Gwangju Institute of Science and Technology)
  • 발행 : 2004.05.01

초록

To avoid the unit inconsistency problem in the conventional Jacobian matrix, new formulation of a dimensionally homogeneous inverse Jacobian matrix for parallel manipulators with a planar mobile platform by using three end-effector points was presented (Kim and Ryu, 2003). This paper presents force relationships between joint forces and Cartesian forces at the three End-Effector points. The derived force relationships can then be used for analyses of the input/output force transmission. These analyses, forward and inverse force transmission analyses, depend on the singular values of the derived unit consistent Jacobian matrix. Using the proposed force relationship, a numerical example is presented for actuator size design of a 3-RRR planar parallel manipulator.

키워드

참고문헌

  1. Asada, H. and Slotine, J. J. E., 1986, Robot Analysis and Control, Wiley, New York
  2. Choi, K. B., 2003, 'Kinematic Analysis and Optimal Design of 3-PPR Planar Parallel Manipulator,' KSME International Journal, Vol. 17, No. 4, pp. 528-537 https://doi.org/10.1007/BF02984454
  3. Doty, K. L., Melchiorri, C., Schwartz, E. M. and Bonevento, C., 1995, 'Robot Manipulabilty,' IEEE Trans. On Robotics and Automation, Vol. 11, No. 3, pp. 462-468 https://doi.org/10.1109/70.388791
  4. Doty, K., Melchiorri, C. and Bonevento, C., 1993, 'A Theory of Generalized Inverse Applied to Robotics,' International Journal of Robotics Research, Vol. 12, No. 1, pp. 1-19 https://doi.org/10.1177/027836499301200101
  5. Gosselin, C. and Jean, M., 1996, 'Determination of the Workspace of Planar Parallel Manipulators with Joint Limits,' IEEE Trans. On Robotics and Automation, Vol. 17, No. 3, pp. 129-138 https://doi.org/10.1016/0921-8890(95)00039-9
  6. Gosselin, C., 1990, 'Stiffness Mapping of Parallel Manipulatiors,' IEEE Trans. On Robotics and Automation, Vol. 6, pp. 377-382 https://doi.org/10.1109/70.56657
  7. Gosselin, C., 1992, 'The Optimum Design of Robotic Manipulators using Dexterity Indices,' Journal of Robotics and Autonomous Systems, Vol. 9, No. 4, pp. 213-226 https://doi.org/10.1016/0921-8890(92)90039-2
  8. Haug, E. J., 1989, Computer-Aided Kinematics and Dynamics of Mechanical Systems, VolumeⅠ : Basic Methods, Allyn and Bacon
  9. Kim, H. S. and Choi, Y. J., 1999, 'The Kinetostatic Capability Analysis of Robotic Manipulators,' Proc. of the IEEE International Conf. on Robotics and Automation, pp. 1241-1246 https://doi.org/10.1109/IROS.1999.812849
  10. Kim, H. S.and Choi, Y. J., 2001, 'Forward/Inverse Force Transmission Capability Analyses of Fully Parallel Manipullators,' IEEE Trans. On Robotics and Automation, Vol. 17, No. 4, pp. 526-531 https://doi.org/10.1109/70.954767
  11. Kodama, S. and Suda, N., 1978, 'Matrix theory for Systems Control,' Tokyo : Society of Instruments and Control Engineers
  12. Kosuge, K., Okuda, M., Kawamata, H. and Fukuda, T., 1993, 'Input/Output Force Analysis of Parallel Link Manipulators,' Proc. of the IEEE International Conf. on Robotics and Automation, Atlanta, May 2-6, pp. 714-719 https://doi.org/10.1109/ROBOT.1993.292062
  13. Lung-Wen Tsai, 1999, Robot Analysis : The Mechanics of Serial and Parallel manipulator, John Wiley & Sons. INC.
  14. Merlet, J. P., Gosselin, C. and Mouly, N., 1998, 'Workspaces of Planar Parallel Manipulators,' Mechanism and Machine Theory, Vol. 33, No. 1, pp. 7-20 https://doi.org/10.1016/S0094-114X(97)00025-6
  15. Merlet, J. P., 1998, 'Efficient Estimation of Extremal Articular Forces of a Parallel Manipulator in a Translation Workspace,' Proc. of the IEEE International Conf. on Robotics and Automation, pp. 1982-1987
  16. Sung-Gaun Kim and Ryu, J., 2003, 'New Dimensionally Homogeneous Jacobian Matrix Formulation by Three End-Effector Points For Optimal Design of Parallel Manipulators,' IEEE Trans. On Robotics and Automation, Vol. 19, No. 4, pp. 731-737 https://doi.org/10.1109/TRA.2003.814496
  17. Yoshikawa, T., 1985, 'Manipulability of Robotic Mechanisms,' International Journal of Robotics Research, Vol. 4, No. 2, pp. 3-9 https://doi.org/10.1177/027836498500400201