Advanced search
Start date
Betweenand
Related content
(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Numerical and experimental evaluation of the dynamic performance of kinematically redundant parallel manipulators

Full text
Author(s):
de Carvalho Fontes, Joao Vitor [1] ; Santos, Joao Cavalcanti [1] ; da Silva, Maira Martins [1]
Total Authors: 3
Affiliation:
[1] Univ Sao Paulo, Mech Engn Dept, Sao Carlos Sch Engn, Av Trabalhador Sancarlense, 400 Pq Arnold Schimidt, BR-13565090 Sao Carlos, SP - Brazil
Total Affiliations: 1
Document type: Journal article
Source: Journal of the Brazilian Society of Mechanical Sciences and Engineering; v. 40, n. 3 MAR 2018.
Web of Science Citations: 3
Abstract

Parallel manipulators present high load capacity and rigidity, among other advantages, when compared to the serial manipulators. Due to their kinematic architecture, their parts are lighter. This characteristic may be an asset for designing high dynamic performance manipulators. However, parallel manipulators suffer from singularities in their workspace. This drawback can be circumvented by the use of kinematic redundancies. Due to the presence of these redundancies, the inverse kinematic problem presents an infinite number of solutions. The selection of a single solution among the possible ones is denoted as redundancy resolution. In this manuscript, the impact of several levels of kinematic redundancy on the dynamic performance of a planar parallel manipulator, the 3 (PR) under bar RR, is numerically and experimentally investigated. The kinematic redundancy of this manipulator can be added by the actuation of the active prismatic joints ((P) under bar). Two redundancy resolution schemes are proposed using a multiobjective optimization problem. Based on the numerical and experimental results, one can conclude that the use of a proper redundancy resolution scheme can considerably reduce the maximum required torque to perform a predefined task. (AU)

FAPESP's process: 14/01809-0 - Towards high speed planar robotic manipulators, Phase I: kinematic redundancy
Grantee:Maira Martins da Silva
Support Opportunities: Regular Research Grants
FAPESP's process: 14/21946-2 - Numerical and experimental investigation on the dynamic performance of kinematically redundant parallel planar manipulator
Grantee:João Cavalcanti Santos
Support Opportunities: Scholarships in Brazil - Master