Force optimization of kinematically-redundant planar parallel manipulators following a desired trajectory. Boudreau, R. & Nokleby, S. Mechanism and Machine Theory, 56:138–155, October, 2012. doi abstract bibtex In this work, an optimization-based methodology for resolving the generalized forces for kinematically-redundant planar parallel manipulators following a desired trajectory is presented. The proposed methodology assumes that the manipulator is performing a task that is slow enough to allow kinetostatic analysis to be used. Two test trajectories were used to show the effectiveness of the proposed methodology. The results for a kinematically-redundant 3-PRPR manipulator were compared against the results for a non-redundant 3-RPR manipulator. The results show that the redundant manipulator has improved force capabilities compared to the non-redundant manipulator. In particular, the redundant manipulator is able to pass through singular configurations with feasible generalized forces, something the non-redundant manipulator cannot do.
@article{boudreau_force_2012,
title = {Force optimization of kinematically-redundant planar parallel manipulators following a desired trajectory},
volume = {56},
doi = {10.1016/j.mechmachtheory.2012.06.001},
abstract = {In this work, an optimization-based methodology for resolving the generalized forces for kinematically-redundant planar parallel manipulators following a desired trajectory is presented. The proposed methodology assumes that the manipulator is performing a task that is slow enough to allow kinetostatic analysis to be used. Two test trajectories were used to show the effectiveness of the proposed methodology. The results for a kinematically-redundant 3-PRPR manipulator were compared against the results for a non-redundant 3-RPR manipulator. The results show that the redundant manipulator has improved force capabilities compared to the non-redundant manipulator. In particular, the redundant manipulator is able to pass through singular configurations with feasible generalized forces, something the non-redundant manipulator cannot do.},
journal = {Mechanism and Machine Theory},
author = {Boudreau, Roger and Nokleby, Scott},
month = oct,
year = {2012},
pages = {138--155}
}
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