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Numerical and experimental investigation on the dynamic performance of kinematically redundant parallel planar manipulator

Grant number: 14/21946-2
Support type:Scholarships in Brazil - Master
Effective date (Start): March 01, 2015
Effective date (End): July 31, 2017
Field of knowledge:Engineering - Mechanical Engineering
Principal Investigator:Maira Martins da Silva
Grantee:João Cavalcanti Santos
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Associated scholarship(s):16/09409-7 - Assessing the dynamic performance of the 3TKR: a novel PKM with kinematic redundancy and a flexible traveling platform, BE.EP.MS


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. This is not a trivial question, 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
(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)
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. Web of Science Citations: 3.
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. Web of Science Citations: 1.
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. Web of Science Citations: 4.
Academic Publications
(References retrieved automatically from State of São Paulo Research Institutions)
SANTOS, João Cavalcanti. Numerical and experimental investigation of the influences of the kinematic redundancy on the performance of a kinematically redundant parallel planar manipulator. 2017. Master's Dissertation - Universidade de São Paulo (USP). Escola de Engenharia de São Carlos São Carlos.

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