Numerical and experimental evaluation of the dynamic performance of kinematically redundant parallel manipulators
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Parallel manipulators present high load capacity and rigidity, among other advantages, when compared to the serial manipulators. Due to their kinematic architecture, their parts are lighter. This characteristic may be an asset for designing high dynamic performance manipulators. However, parallel manipulators suffer from singularities in their workspace. This drawback can be circumvented by the use of kinematic redundancies. Due to the presence of these redundancies, the inverse kinematic problem presents an infinite number of solutions. The selection of a single solution among the possible ones is denoted as redundancy resolution. In this manuscript, the impact of several levels of kinematic redundancy on the dynamic performance of a planar parallel manipulator, the 3PRRR, is numerically and experimentally investigated. The kinematic redundancy of this manipulator can be added by the actuation of the active prismatic joints (P). Two redundancy resolution schemes are proposed using a multiobjective optimization problem. Based on the numerical and experimental results, one can conclude that the use of a proper redundancy resolution scheme can considerably reduce the maximum required torque to perform a predefined task.
KeywordsParallel kinematic machines Kinematic redundancy Redundancy resolution Dynamic performance
The authors would like to thank FAPESP 2014/01809-0, FAPESP 2014/21946-2 and CNPq.
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