Force capabilities of redundantly-actuated parallel manipulators

被引：187
|
作者：
Nokleby, SB
Fisher, R
Podhorodeski, RP
Firmani, F
机构：
[1] Univ Victoria, Robot & Mechanisms Lab, Dept Mech Engn, Victoria, BC V8W 3P6, Canada
[2] Univ Ontario, Inst Technol, Fac Engn & Appl Sci, Oshawa, ON L1H 7K4, Canada
来源：
MECHANISM AND MACHINE THEORY | 2005年 / 40卷 / 05期
基金：
加拿大自然科学与工程研究理事会;
关键词：
D O I：
10.1016/j.mechmachtheory.2004.10.005
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A methodology of using scaling factors to determine the force capabilities of non-redundantly and redundantly-actuated parallel manipulators is presented. This methodology allows the actuator limits to be easily incorporated into the problem of determining force capabilities of parallel manipulators. Analytical methods for determining the force capabilities of both non-redundantly and redundantly-actuated manipulators using scaling factors are derived. In addition, an optimization-based method for generating force capabilities is presented. The results show that using redundant actuation allows for a significant improvement in the force capabilities of parallel manipulators. The results also show that using the optimization-based solution makes better use of the maximum torque/force capabilities of the actuators when compared to the non-redundantly-actuated and the pseudo-inverse solutions. (c) 2004 Elsevier Ltd. All rights reserved.
引用
收藏
页码：578 / 599
页数：22
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