Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach

Title
Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach
Author(s)
이재원서태원심호석[심호석]
Keywords
MECHANISM; MANIPULATORS; DESIGN
Issue Date
201307
Publisher
CAMBRIDGE UNIV PRESS
Citation
ROBOTICA, v.31, pp.549 - 554
Abstract
In this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque.
URI
http://hdl.handle.net/YU.REPOSITORY/29342http://dx.doi.org/10.1017/S0263574712000562
ISSN
0263-5747
Appears in Collections:
공과대학 > 기계공학부 > Articles
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