Towards high speed planar robotic manipulators, Phase I: kinematic redundancy

• Grant number: 14/01809-0
• Support Opportunities: Regular Research Grants
• Start date: May 01, 2014
• End date: April 30, 2016
• Field of knowledge: Engineering - Mechanical Engineering - Mechanical Engineering Design
• Principal Investigator: Maira Martins da Silva
• Grantee: Maira Martins da Silva
• Host Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

The aim of this proposal is to study numerically and experimentally whether the kinematic redundancy can be a good alternative for parallel planar manipulators to achieve high accelerations. It is known that the kinematic redundancy promotes, among other benefits, a significant reduction in the singularities and a homogenization on the actuation forces. However, evaluating if the kinematic redundancy is a good solution to increase dynamic performance of a robotic system is not trivial, because this solution means not only that there is more torque available, but also that the inertia of the system has been considerably increased. Different configurations of the redundant manipulator are going to be evaluated numerically through cinematic and dynamic models. Objective metrics are going to be proposed and should be employed to aid the designer to infer if redundancy is a good alternative to improve the dynamic performance of planar manipulators. A simple but yet versatile setup are going to be built in order to evaluate experimentally different configurations. This setup will consist of a planar parallel manipulator driven by three rotational direct drives and three linear guides (driven by motors). The degree-of freedom of the setup are going to be driven by the three rotational direct drives while the redundancy is guarantee by the linear guides. (AU)

Scientific publications

(11)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

VIEIRA, HIPARCO L.; FONTES, JOAO V. C.; BECK, ANDRE T.; DA SILVA, MAIRA M.. Reliable and Failure-Free Workspaces for Motion Planning Algorithms for Parallel Manipulators Under Geometrical Uncertainties. Journal of Computational and Nonlinear Dynamics, v. 14, n. 2, SI, FEB 2019. (14/01809-0)

VIEIRA, HIPARCO LINS; BECK, ANDRE TEOFILO; DA SILVA, MAIRA MARTINS. Combined interval analysis-Monte Carlo simulation approach for the analysis of uncertainties in parallel manipulators. MECCANICA, v. 56, n. 7, p. 1867-1881, JUL 2021. (14/01809-0, 18/21336-0)

RUIZ, ANDRES GOMEZ; SANTOS, JOAO CAVALCANTI; CROES, JAN; DESMET, WIM; DA SILVA, MAIRA MARTINS. On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators. ROBOTICA, v. 36, n. 6, p. 809-821, JUN 2018. (14/01809-0, 14/21946-2)

FONTES, JOAO VITOR; DA SILVA, MARIA MARTINS. On the dynamic performance of parallel kinematic manipulators with actuation and kinematic redundancies. MECHANISM AND MACHINE THEORY, v. 103, p. 148-166, SEP 2016. (14/01809-0)

COLOMBO, FERNANDA THAIS; DE CARVALHO FONTES, JOAO VITOR; DA SILVA, MAIRA MARTINS. A Visual Servoing Strategy Under Limited Frame Rates for Planar Parallel Kinematic Machines. JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v. 96, n. 1, p. 95-107, OCT 2019. (14/01809-0, 15/25936-4)

SANTOS, JOAO CAVACANTI; DA SILVA, MAIRA MARTINS. Redundancy Resolution of Kinematically Redundant Parallel Manipulators Via Differential Dynamic Programing. JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, v. 9, n. 4, AUG 2017. (14/01809-0, 14/21946-2)

VIEIRA, HIPARCO L.; FONTES, JOAO V. C.; BECK, ANDRE T.; DA SILVA, MAIRA M.. Reliable and Failure-Free Workspaces for Motion Planning Algorithms for Parallel Manipulators Under Geometrical Uncertainties. Journal of Computational and Nonlinear Dynamics, v. 14, n. 2, p. 9-pg., 2019-02-01. (14/01809-0)

VIEIRA, HIPARCO LINS; WAJNBERG, ERIC; BECK, ANDRE TEOFILO; DA SILVA, MAIRA MARTINS. Reliable motion planning for parallel manipulators. MECHANISM AND MACHINE THEORY, v. 140, p. 553-566, OCT 2019. (18/21336-0, 14/01809-0)

DE CARVALHO FONTES, JOAO VITOR; SANTOS, JOAO CAVALCANTI; DA SILVA, MAIRA MARTINS. Numerical and experimental evaluation of the dynamic performance of kinematically redundant parallel manipulators. Journal of the Brazilian Society of Mechanical Sciences and Engineering, v. 40, n. 3, MAR 2018. (14/01809-0, 14/21946-2)

FONTES, JOAO VITOR C.; VIEIRA, HIPARCO L.; DA SILVA, MAIRA M.; ZEGHLOUL, S; ROMDHANE, L; LARIBI, MA. The Impact of Kinematic Redundancies on the Conditioning of a Planar Parallel Manipulator. COMPUTATIONAL KINEMATICS, v. 50, p. 8-pg., 2018-01-01. (14/01809-0)

VIEIRA, HIPARCO LINS; DA SILVA, MAIRA M.; CORVES, B; WENGER, P; HUSING, M. Estimating the Probability of Failures of a 3RRR Manipulator Using a Metamodel. PROCEEDINGS OF THE 7TH EUROPEAN CONFERENCE ON MECHANISM SCIENCE, EUCOMES 2018, v. 59, p. 8-pg., 2019-01-01. (14/01809-0)