The Impact of Kinematic Redundancies on the Conditioning of a Planar Parallel Manipulator

Autor(es)

Fontes, Joao Vitor C. ; Vieira, Hiparco L. ; da Silva, Maira M. ; Zeghloul, S ; Romdhane, L ; Laribi, MA

• Tipo de documento: Artigo Científico
• Fonte: COMPUTATIONAL KINEMATICS; v. 50, p. 8-pg., 2018-01-01.

Resumo

Parallel manipulators present drawbacks such as singularities inside their workspace. In order to measure these drawbacks, the condition number of the Jacobian matrix can be used either as a measurement of the distance between the end effector and singularities or as an isotropy index. In this paper, a study of the impact of kinematic redundancies on the improvement of a planar manipulator's isotropicity and on the reduction of singularities is presented. In order to do so, conditioning maps are exploited for the non-redundant 3RRR and for the kinematically redundant 3PRRR manipulators. The outcome of this evaluation supports evidences in favor of kinematic redundancies regarding kinematic characteristics. (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