An Explicit Method for Determining the Force-Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators

Author:

Zibil Alp1,Firmani Flavio1,Nokleby Scott B.2,Podhorodeski Ron P.1

Affiliation:

1. Robotics and Mechanisms Laboratory, Department of Mechanical Engineering, University of Victoria, P.O. Box 3055, Victoria, BC V8W 3P6, Canada

2. Faculty of Engineering and Applied Science, University of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, ON L1H 7K4, Canada

Abstract

A new explicit methodology for the determination of the force-moment capabilities of nonredundantly and redundantly actuated planar parallel manipulators (PPMs) is presented. This methodology is based on properly adjusting the actuator outputs to their maximum capabilities. As a result, the wrench to be applied or sustained is maximized. For a nonredundantly actuated PPM, one actuator can be maximized, while for a redundantly actuated PPM, one actuator, beyond the one of the nonredundant case, may be maximized for every degree of redundancy added to the mechanism. This methodology is compared to a previous work that required an optimization algorithm. The new method yields more accurate and reliable results and is considerably more efficient. Four studies of force-moment capabilities are considered: maximum force with prescribed moment, maximum applicable force, maximum moment with a prescribed force, and maximum applicable moment. The methodology is used to generate the force-moment capabilities of an existing PPM throughout its workspace.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Reference24 articles.

1. A Reconfigurable Planar Parallel Manipulator;Fisher;J. Rob. Syst.

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