Cable-Driven Parallel Manipulators with Extensible Rods

多年来，不同类型的冗余在系列机械臂环境下已经达到了很好的成熟程度。最值得注意的是，为了更好的运动性能或避障，运动学冗余（即增加比任务严格要求的更多的关节和链路）已经成为许多工作和成功的机械手设计（例如，加拿大手臂）的焦点。然而，在并联机械臂（pm）中，冗余仍然处于起步阶段。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/或高度单一的工作空间），并开发新的或改进的机械手体系结构。本文将从理论和实践两方面对驱动冗余进行研究。

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.