Cable-Driven Parallel Manipulators with Extensible Rods

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Redundancy of different types in the context of serial manipulators has reached a good level of maturity over the years. Most notably, kinematic redundancy (i.e., adding more joints and links than those strictly required by the task) for better kinematic performance or obstacle avoidance has been the focus of a number of works and successful manipulator designs (e.g., Canadarm). In parallel manipulators (PMs), however, redundancy is still in its infancy. Some recent works have used redundancy to tackle a few common issues of PMs (e.g., small workspace and highly singular workspaces) and to develop new or improved manipulator architectures. The research proposed here will study actuation redundancy from theoretical and practical perspectives.