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Modeling and Applications of a Family of Five-Degree-of-Freedom Parallel Mechanisms With Kinematic and Actuation Redundancy

Title
Modeling and Applications of a Family of Five-Degree-of-Freedom Parallel Mechanisms With Kinematic and Actuation Redundancy
Author
이병주
Keywords
mechanism design; parallel platforms; robot design; theoretical kinematics
Issue Date
2018-07
Publisher
ASME
Citation
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME, v. 10, No. 5, Article no. 051004
Abstract
This paper introduces a family of statically balanced five-degree-of-freedom (5DOF) parallel mechanisms (PMs) with kinematic and actuation redundancy. Moving platforms o f this family of PMs can provide 4DOF Schonflies motion. Three applications are considered in this work. The first and second applications use kinematic redundancy to avoid parallel singularities and perform an auxiliary grasping task in sequence. The third application incorporates actuation redundancy into a kinematically redundant manipulator to increase the load-carrying capacity. Screw theory was used to derive the Jacobian of the 5DOF PM with kinematic and actuation redundancy. Parallel singularities can be completely alleviated by controlling the orientation of the redundant link, thereby obtaining a large rotational workspace, and actuation redundancy increases the load-carrying capacity. Using a commercially available multibody dynamic simulator, an example of trajectory was performed to illustrate the large rotational workspace of the first and second applications and compare the Euclidean norm of the vector of actuation torque of nonredundant and redundant PMs. Three prototypes were also developed to demonstrate the output motion and static balancing property.
URI
http://mechanismsrobotics.asmedigitalcollection.asme.org/article.aspx?articleid=2683681https://repository.hanyang.ac.kr/handle/20.500.11754/105630
ISSN
1942-4302
DOI
10.1115/1.4040462
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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