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Design-by-Optimization and Control of Redundantly Actuated Parallel Kinematics Sliding Star

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Abstract

The paper deals with the design and control of an example of redundantly actuated parallel kinematic structure that can be a machine tool. The principle of redundant actuation brings parallel kinematic structures which do not have singular positions in workspace and which has increased dynamic, stiffness and accuracy properties. There is proposed a parallel kinematic structure called Sliding Star that has promising dynamic and stiffness properties. The conceptual design-by-optimization of this structure is briefly described. The redundantly actuated parallel kinematics have control problem due to mutual fighting of redundant drives. There is described the solution of this problem. Based on the investigated redundantly actuated parallel kinematics there has been built a laboratory prototype. The experimental results from the control of this prototype are briefly presented.

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Authors and Affiliations

  1. Department of Mechanics, Faculty of Mechanical Engineering, Czech Technical University in Prague, Karlovo nam. 13, 121 35, Praha 2, Czech Republic

    Michael ValÁšek, VÁclav Bauma, Zbyněk šika & Květoslav Belda

  2. Department of Control Engineering, Faculty of Electrical Engineering, Czech Technical University in Prague, Karlovo nam. 13, 121 35, Praha 2, Czech Republic

    Pavel PÍša

Authors
  1. Michael ValÁšek
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  2. VÁclav Bauma
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  3. Zbyněk šika
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  4. Květoslav Belda
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  5. Pavel PÍša
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Correspondence to Michael ValÁšek.

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ValÁšek, M., Bauma, V., šika, Z. et al. Design-by-Optimization and Control of Redundantly Actuated Parallel Kinematics Sliding Star. Multibody Syst Dyn 14, 251–267 (2005). https://doi.org/10.1007/s11044-005-2278-4

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  • DOI: https://doi.org/10.1007/s11044-005-2278-4

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