Abstract
In this paper a new actuation strategy is proposed and then applied to the 3-PRPR1 redundant planar parallel manipulator. The actuation strategy consists of selecting adequate actuators displacements such that the 2-norm of the joint space acceleration vector is minimised in each step of a given trajectory. The method is based on the use of constrained local optimisation algorithms. Given the redundant nature of the manipulator, in the optimisation routine three of the six prismatic actuator displacements are selected as design variables. Thus, in each step of the calculation, velocities and accelerations of the three selected actuators can be calculated while the displacements, velocities and accelerations of the remaining actuators are obtained by solving the inverse problems. Some results are shown by comparing the joint acceleration history for the 3-PRPR manipulator with a similar non-redundant manipulator (the 3-RPR).
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Cha, S., Lasky, T.A. and Velinsky, S.A.: Kinematically-redundant variations of the 3-RRR mechanism and local optimization-based singularity avoidance. Mechanics Based Design of Structures and Machines, 35 (1), 15–38 (2007).
Ebrahimi, I., Carretero, J.A. and Boudreau, R.: Kinematic analysis and path planning of a new kinematically redundant planar parallel manipulator. Robotica, 26(3), 405–413 (2008).
Ebrahimi, I., Carretero, J.A. and Boudreau, R: 3-PR RR redundant planar parallel manipulator: Inverse displacement, workspace and singularity analyses. Mechanism and Machine Theory, 42(8), 1007–1016 (2007).
Merlet, J.-P.: Redundant parallel manipulators. Lab. Robotics and Aut. 8(1), 17–24 (1996).
Wang, J. and Gosselin, C.M.: Kinematic analysis and design of kinematically redundant parallel mechanisms. Journal of Mechanical Design 126(1), 109–118 (2004).
Ruggiu, M. and Carretero, J.A.: Kinematic analysis of the 3-PRPR redundant planar parallel manipulator. In: Proceedings of the CCToMM, Quebec City (2009).
Nakamura, Y.: Advanced Robotics: Redundancy and Optimization. Addison Wesley (1991).
Maciejewski, A.A. and Klein, C.A.: Obstacle avoidance for kinematically redundant manipulators in dynamically variant environments. Int. J. of Robotics Research 3(3), 109–117 (1985).
Nakamura, Y. and Yoshikawa, T.: Task-priority based redundancy control of robot manipulators. International Journal of Robotics Research 6(2), 3–15 (1987).
Tsai, L.-W.: Solving the inverse dynamics of a Stewart–Gough manipulator by the principle of virtual work. Journal of Mechanical Design, 122, 3–9 (2000).
Tsai, L.-W.: Robot Analysis. John Wiley and Sons, New York (1999).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer Science+Business Media B.V.
About this paper
Cite this paper
Ruggiu, M., Carretero, J.A. (2010). Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_10
Download citation
DOI: https://doi.org/10.1007/978-90-481-9262-5_10
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9261-8
Online ISBN: 978-90-481-9262-5
eBook Packages: EngineeringEngineering (R0)