Cable-Driven Parallel Manipulators with Extensible Rods

多年来，在串行机械手的背景下，不同类型的冗余已经达到了一个很好的成熟水平。最值得注意的是，运动冗余（即，增加比任务严格要求的更多的接头和连杆）以获得更好的运动学性能或障碍物避免已经成为许多工作和成功的操纵器设计的焦点（例如，Canadarm）。然而，在并联机器人（PMs），冗余仍处于起步阶段。最近的一些工作已经使用冗余来解决PM的一些常见问题（例如，小的和/或高度奇异的机器人）和开发新的或改进的操纵器结构。本文从理论和实践两个方面对驱动冗余进行了研究。

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 and/or highly singular workspaces) and to develop new or improved manipulator architectures. The research proposed here will study actuation redundancy from theoretical and practical perspectives.