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

Autor(es)

de Carvalho Fontes, Joao Vitor ^[1] ; Santos, Joao Cavalcanti ^[1] ; da Silva, Maira Martins ^[1]

Afiliação do(s) autor(es)

^[1] Univ Sao Paulo, Mech Engn Dept, Sao Carlos Sch Engn, Av Trabalhador Sancarlense, 400 Pq Arnold Schimidt, BR-13565090 Sao Carlos, SP - Brazil

• Tipo de documento: Artigo Científico
• Fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering; v. 40, n. 3 MAR 2018.
• Citações Web of Science: 3

Resumo

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)

• Processo FAPESP: 14/01809-0 - Alcançando altas acelerações com manipuladores robóticos planares, Fase I: redundância cinemática
• Beneficiário: Maira Martins da Silva
• Modalidade de apoio: Auxílio à Pesquisa - Regular
• Processo FAPESP: 14/21946-2 - Estudo numérico e experimental de um sistema robótico planar de arquitetura paralela com redundância cinemática
• Beneficiário: João Cavalcanti Santos
• Modalidade de apoio: Bolsas no Brasil - Mestrado