Generation and application of prestress in redundantly full-actuated parallel manipulators

This paper addresses the inverse dynamics of redundantly actuated parallel manipulators. Such manipulators feature advantageous properties, such as a large singularity-free workspace, a high possible acceleration of the moving platform, and higher dexterity and manipulability. Redundant actuation further allows for prestress, i.e., internal forces without generating end-effector wrenches. This prestress can be employed for various goals. It can potentially be used to avoid backlash in the driving units or to generate a desired tangential end-effector stiffness. In this paper, the application of prestress is addressed upon the inverse dynamics solution.