Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators
Actuation Redundancy as a Way to Improve the Acceleration Capabilities of 3T and 3T1R Pick-and-Place Parallel Manipulators
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DOI：
10.1115/1.4002078
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发表时间：
2010-11
期刊：
影响因子：
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通讯作者：
David Corbel;M. Gouttefarde;F. Pierrot
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文献类型：
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作者：
David Corbel;M. Gouttefarde;F. Pierrot
分析了驱动冗余对并联机器人获得高加速度的可能贡献。本研究基于冗余和非冗余Delta/ par4类机械手，它们经常用于拾取和放置应用，并解决了平移机械手（也称为3T机械手）和schoenfly运动机械手（也称为3T1R机械手）的情况。一个对冗余和非冗余机械手都有效的动态模型被用来分析移动平台的加速能力：(i)在零速度和任何方向，以及（ii）在“最佳”方向的零速度。结果表明，驱动冗余可以使整个工作空间的动态能力均匀化，并增加运动平台的加速度。针对3T和3T1R机械臂，设计了具有高加速度拾取轨迹的冗余Delta/ par4类机械臂。
This paper analyzes the possible contribution of actuation redundancy in obtaining very high acceleration with parallel robot manipulators. This study is based on redundant and nonredundant Delta/Par4-like manipulators, which are frequently used for pick-and-place applications, and addresses the cases of translational manipulators (also called 3T manipulators) and manipulators with Schoenflies motions (also called 3T1R manipulators). A dynamic model, valid for both redundant and nonredundant manipulators, is used to analyze the moving platform’s acceleration capabilities: (i) at zero speed and in any direction and (ii) at zero speed in the “best” direction. The results show that actuation redundancy makes it possible to homogenize dynamic capabilities throughout the workspace and to increase the moving platform’s accelerations. Designs of redundant Delta/Par4-like manipulators capable of high acceleration pick-and-place trajectories are presented for both 3T and 3T1R manipulators.