Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

Mechanism and Machine Theory

Volumn 44, Issue 5, 2009, Pages 1032-1044

  Cha, S H ^a   Lasky, T A ^a   Velinsky, S A ^a  

^a University of California Davis   (United States)

Author keywords

Kinematic redundancy; Local optimization; Mechanism design; Parallel manipulator; Robotics

Indexed keywords

KINEMATICS; MACHINE DESIGN; POSITION CONTROL; QUALITY ASSURANCE; REDUNDANCY; REDUNDANT MANIPULATORS; ROBOTICS;

ACTIVE PRISMATIC JOINTS; ACTUATED JOINTS; END-EFFECTOR; INITIAL CONFIGURATIONS; KINEMATIC CHAINS; KINEMATIC REDUNDANCY; LOCAL OPTIMIZATION; MECHANICAL RIGIDITIES; MECHANISM DESIGN; MOVING PLATFORMS; PARALLEL MANIPULATOR; PARALLEL MECHANISMS; PAY LOAD CAPACITIES; PLANAR PARALLEL MANIPULATORS; PLANAR PARALLEL MECHANISMS; REDUNDANCY RESOLUTIONS; REVOLUTE JOINTS; SIMPLE STRUCTURES; SINGULAR LOCUS; SINGULARITY AVOIDANCES; SINGULARITY-FREE; VARIABLE RANGES;

MECHANISMS;

EID: 60649110030     PISSN: 0094114X     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.mechmachtheory.2008.05.010     Document Type: Article

References (22)

1. Gosselin C., and Angeles J. The optimum kinematic design of a planar three-degree-of-freedom parallel manipulator. ASME Journal of Mechanisms, Transmissions, and Automation in Design 110 1 (1988) 35-41
2. Gosselin C., and Angeles J. Singularity analysis of closed-loop kinematic chains. IEEE Transactions on Robotics and Automation 6 3 (1990) 281-290
3. Daniali H.R.M., Zsombor-Murray P.J., and Angeles J. Singularity analysis of planar parallel manipulators. Mechanism and Machine Theory 30 5 (1995) 665-678
4. I.A. Bonev, C. Gosselin, Singularity loci of planar parallel manipulators with revolute joints, in: Proceedings of the Second Workshop on Computational Kinematics, 2001, pp. 291-299.
5. Cha S.-H., Lasky T.A., and Velinsky S.A. Kinematic redundancy resolution for serial-parallel manipulators via local optimization including joint constraints. Mechanics Based Design of Structures and Machines 34 2 (2006) 213-239
6. Ebrahimi I., Carretero J.A., and Boudreau R. 3-PRRR redundant planar parallel manipulator: Inverse displacement, workspace and singularity analyses. Mechanism and Machine Theory 42 8 (2007) 1007-1016
7. Mohamed M.G., and Gosselin C. Design and analysis of kinematically redundant parallel manipulators with configurable platforms. IEEE/ASME Transactions on Mechatronics 21 3 (2005) 277-287
8. Wang J., and Gosselin C. Kinematic analysis and design of kinematically redundant parallel mechanisms. ASME Journal of Mechanical Design 126 1 (2004) 109-118
9. K.E. Zanganeh, J. Angeles, Mobility and position analyses of a novel redundant parallel manipulator, in: Proceedings of IEEE International Conference on Robotics and Automation, 1994, pp. 3049-3054.
10. Cheng H., Yiu Y.-K., and Li Z. Dynamics and control of redundantly actuated parallel manipulators. IEEE/ASME Transactions on Mechatronics 8 4 (2003) 483-491
11. Dasgupta B., and Mruthyunjaya T.S. Force redundancy in parallel manipulators: theoretical and practical issues. Mechanism and Machine Theory 33 6 (1998) 727-742
12. Firmani F., and Podhorodeski R.P. Force-unconstrained poses for a redundantly-actuated planar parallel manipulator. Mechanism and Machine Theory 39 5 (2004) 459-476
13. Kurtz R., and Hayward V. Dynamics and control of redundantly actuated parallel manipulators. IEEE Transactions on Robotics and Automation 8 5 (1992) 644-651
14. Müller A. Internal preload control of redundantly actuated parallel manipulators - its application to backlash avoiding control. IEEE Transactions on Robotics 21 4 (2005) 668-677
15. Nokleby S.B., Fisher R., Podhorodeski R.P., and Firmani F. Force capabilities of redundantly-actuated parallel manipulators. Mechanism and Machine Theory 40 5 (2005) 578-599
16. J.F. O'Brien, J.T. Wen, Redundant actuation for improving kinematic manipulability, in: Proceedings of IEEE International Conference on Robotics and Automation, 1999, pp. 1520-1525.
17. Cha S.-H., 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 (2007) 15-38
18. Cheng F.-T., Chen T.-H., and Sun Y.-Y. Resolving manipulator redundancy under inequality constraints. IEEE Transactions on Robotics and Automation 10 1 (1994) 65-71
19. Kwon W., Lee B.H., and Choi M.H. Resolving kinematic redundancy of a robot using a quadratically constrained optimization technique. Robotica 17 5 (1999) 503-511
20. Sung Y.W., Cho D.K., and Sun Y.Y. A constrained optimization approach to resolving manipulator redundancy. Journal of Robotic Systems 13 5 (1996) 275-288
21. Voglewede P.A., and Ebert-Uphoff I. Overarching framework for measuring closeness to singularities of parallel manipulators. IEEE Transactions on Robotics 21 6 (2005) 1037-1045
22. Cheng H., and Trang D.T. Object-oriented interactive mechanism design and analysis. Engineering with Computers 21 3 (2006) 237-246