Wrench Analysis of Kinematically Redundant Planar CDPRs
Wrench Analysis of Kinematically Redundant Planar CDPRs
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DOI：
10.1007/978-3-030-75789-2_8
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
Adhiti Raman;Matthias J. Schmid;V. Krovi
中科院分区：
文献类型：
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作者：
Adhiti Raman;Matthias J. Schmid;V. Krovi
全约束式电缆驱动并联机器人（CDPR）如果在扳手空间内有可伸缩装置施加正张力，则具有扳手闭合功能。然而，扳手闭合的质量通常取决于CDPR的并联链的支撑几何结构。在传统的缆索机器人基础上增加链内运动冗余和/或驱动冗余所赋予的可重构性可以大大提高工作空间的质量。然而，各种关节的状态（主动、被动或锁定）会影响系统制定和基于极限扳手的分析的复杂性。过去的努力倾向于以这样一种方式平衡这些系统中的力，以避免运动冗余。为此，我们使用矩阵李群公式来表述冗余可重构CDPR的运动学（为了便于表述和随后的推广）。互易性（和选择性互易性）允许扳手分析的发展，包括驱动与结构平衡部件的划分。通过增加运动冗余和关节的选择性驱动/锁定，总的扳手组大大扩展。所采用的方法有助于整体确定真正的扳手多面体，该多面体考虑了所有驱动源的扳手贡献。所有这些方面都通过4-PRPR平面电缆驱动并联机械臂（具有不同的主动/被动/锁定关节）的变体进行了检查。
A fully-constrainedcable-driven parallel robot (CDPR) has wrench closure if there arecables exerting positive tensions spanning the wrench space. However, the quality of wrench closure is often dependent on the geometric configuration of the supporting in-parallel chains of the CDPR. The reconfigurability endowed by adding in-chain kinematic and/or actuation redundancy to a conventional cable robot could greatly improve quality of the workspace. However, the status of various joints (active, passive or locked) affect the complexity of the systematic formulation and ultimate wrench-based analysis. Past efforts have tended to equilibrate the forces in these systems in such a way as to avoid kinematic redundancies. To this end, we formulate the kinematics of the redundant reconfigurable CDPR using matrix Lie group formulation (to allow ease of formulation and subsequent generalizability). Reciprocity (and selective reciprocity) permits the development of wrench analyses including the partitioning of actuation vs structural equilibration components. The total wrench set is greatly expanded both by the addition of kinematic redundancy and selective actuation/locking of the joints. The approach adopted facilitates the holistic determination of the true wrench polytope which accounts for the wrench contributions from all actuation sources. All these aspects are examined with variants of a 4-PRPR planar cable driven parallel manipulator (with varied active/passive/locked joints).