Torque distribution optimization of redundantly actuated planar parallel mechanisms based on a null-space solution

Title
Torque distribution optimization of redundantly actuated planar parallel mechanisms based on a null-space solution
Author(s)
서태원최정현[최정현]이재원
Keywords
HIGH-SPEED; 3-RRR; MANIPULATORS; DESIGN; 2-RRR
Issue Date
201410
Publisher
CAMBRIDGE UNIV PRESS
Citation
ROBOTICA, v.32, no.7, pp.1125 - 1134
Abstract
Redundant actuation for the parallel kinematic machine (PKM) is a well-known technique for overcoming general drawbacks of the PKM by helping it to avoid singularity and enhance stiffness characteristics, among others. Torque distribution plays a critical role in redundant actuation because this actuation causes the PKM to consume too much energy or put a substantial amount of stress on joints and links. This paper proposes a new torque distribution method for reducing the maximum torque of the actuator of a planar PKM. Here the main idea behind the proposed method is the use of superposition of a particular solution for a non-redundant case and an optimized null-space solution for a redundant case with a constant coefficient. The optimal value of a null-space solution can be easily determined by checking only the intersection points of the profile of the actuator's torque as the coefficient varies. We consider three cases of planar PKMs-2-, 3-, and 4-RRR PKMs-and present a detailed procedure for deriving a kinematic solution for the 2-RRR PKM based on Screw theory. We compare the proposed method with the minimum-norm pseudo-inverse method and assess a limitation of the proposed method. The torque distribution algorithm can be used to determine the number of actuators in an efficient manner and to reduce energy consumption.
URI
http://hdl.handle.net/YU.REPOSITORY/30608http://dx.doi.org/10.1017/S0263574713001288
ISSN
0263-5747
Appears in Collections:
공과대학 > 기계공학부 > Articles
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