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Statically redundant parallel robots

  • Recent Progress and Novel Applications of Parallel Mechanisms
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Abstract

Presented in this paper is a method for the development of variable geometry truss manipulators (VGTMs) with enhanced static characteristics. The concept of statically redundant parallel robots is introduced and used to design the VGTM module through under-actuation. Under this design, each module is over-constrained, composed of both active and passive limbs. To enhance the stiffness, the passive limbs are designed using lockable prismatic joints. It is shown that through proper sequencing of the locking and unlocking of these passive limbs in correspondence to actuated motion, system rigidity can be maintained in the course of reconfiguration. In this paper, the proposed method is first explained using a planar system, then it is shown how to apply this method to the design of the variable geometry wing-box for an aircraft morphing wing.

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Notes

  1. The joint shared by the two top limbs counts as two.

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Authors and Affiliations

  1. Department of Aerospace Engineering, Ryerson University, Toronto, ON, M5B 2K3, Canada

    Amin Moosavian & Fengfeng Xi

  2. Robotic Research Center, Shanghai University, Shanghai, 200072, China

    Fengfeng Xi

Authors
  1. Amin Moosavian
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  2. Fengfeng Xi
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Correspondence to Amin Moosavian.

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Moosavian, A., Xi, F. Statically redundant parallel robots. Meccanica 51, 1623–1637 (2016). https://doi.org/10.1007/s11012-015-0272-3

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  • DOI: https://doi.org/10.1007/s11012-015-0272-3

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