Force capabilities of redundantly-actuated parallel manipulators
Force capabilities of redundantly-actuated parallel manipulators
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DOI：
10.1016/j.mechmachtheory.2004.10.005
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发表时间：
2005-05
影响因子：
5.2
通讯作者：
S. Nokleby;R. Fisher;R. Podhorodeski;Flavio Firmani
中科院分区：
文献类型：
--
作者：
S. Nokleby;R. Fisher;R. Podhorodeski;Flavio Firmani
提出了一种利用比例因子确定非冗余和冗余驱动并联机器人力能力的方法。这种方法允许的驱动器的限制，可以很容易地纳入到并联机械手的力能力的确定问题。分析方法确定的力能力的非冗余和冗余驱动的机械手使用比例因子推导。此外，提出了一种基于优化的兵力生成方法。结果表明，使用冗余驱动允许并联机器人的力能力的显着改善。结果还表明，使用基于优化的解决方案，使更好地利用最大的扭矩/力的能力的致动器相比，非冗余驱动和伪逆的解决方案。
A methodology of using scaling factors to determine the force capabilities of non-redundantly and redundantly-actuated parallel manipulators is presented. This methodology allows the actuator limits to be easily incorporated into the problem of determining force capabilities of parallel manipulators. Analytical methods for determining the force capabilities of both non-redundantly and redundantly-actuated manipulators using scaling factors are derived. In addition, an optimization-based method for generating force capabilities is presented. The results show that using redundant actuation allows for a significant improvement in the force capabilities of parallel manipulators. The results also show that using the optimization-based solution makes better use of the maximum torque/force capabilities of the actuators when compared to the non-redundantly-actuated and the pseudo-inverse solutions.