首页|Determination of the available wrench set of a 3-RPRR kinematically-redundant planar parallel manipulator
Determination of the available wrench set of a 3-RPRR kinematically-redundant planar parallel manipulator
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NSTL
Elsevier
Parallel robots that incorporate kinematic redundancy in their designs are frequently considered for use in different applications due to their ability to avoid direct kinematic singularities within their workspace. Knowledge of a robot's wrench generation capabilities constitutes essential information when designing its geometry and planning its optimal use to accomplish various tasks. In the presence of kinematic redundancies, the determination of a robot's wrench generation capabilities at a given pose of its mobile platform depends not only on the limits of its actuators but also on the configurations of its legs. In this work, an algorithm allowing for the closed-form computation of the available wrench set of the 3-RPRR planar parallel robot is presented. This results in generating the boundary of the available wrench set as a set of faces in the wrench space. Based on this representation, algorithms allowing for the computation of various application-based performance indices are also described. Example numerical results are included to demonstrate how the tools that are presented could be used in the context of robot design.
NSTL
Elsevier
