Mode Changes of a Planar 3 DOF Redundantly Actuated Parallel Robot
Mode Changes of a Planar 3 DOF Redundantly Actuated Parallel Robot
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DOI：
10.7763/ijmmm.2016.v4.238
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发表时间：
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通讯作者：
T. Harada
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作者：
T. Harada
摘要提出了一种新颖的冗余度驱动平面并联机器人，该机器人通过改变模式来扩大工作空间。冗余驱动和不对称设计使奇异性避免了有损耗冗余的模式变化，但保持了非奇异性。在装配模式转换中，当并联机器人在两个正运动学解之间进行位形转换时，提出了避免奇异的路径规划方法。在工作模式转换中，当并联机器人在两个运动学逆解之间转换其位形时，不对称的设计有助于实现无奇异的模式转换。利用新开发的样机实现了避免奇异性的模式转换。
Abstract—A novel redundantly actuated planar parallel robot which enlarges the workspace by mode changes is proposed. Redundantly actuation and asymmetric design enables singularity avoided mode changes with loss redundancy but maintain non-singularity. In the assembly mode change, where the parallel robot transfers its configurations between two solutions of the direct kinematics, path planning which avoids singularity is proposed. In the working mode change, where the parallel robot transfers its configurations between two solutions of the inverse kinematics, the asymmetrical design contributes to singularity-free mode change. The singularities avoided mode changes were performed by newly developed prototype.