Hostname: page-component-cd9895bd7-dk4vv Total loading time: 0 Render date: 2024-12-23T12:51:02.641Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach

Published online by Cambridge University Press:  15 October 2012

Ho-Seok Shim ,
TaeWon Seo  and
Jeh Won Lee
Ho-Seok Shim
Affiliation:
R & D Center, Pyung-Hwa Anti-Vibration Company, Daegu, 711-855, Republic of Korea
TaeWon Seo
Affiliation:
School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea
Jeh Won Lee*
Affiliation:
School of Mechanical Engineering, Yeungnam University, Gyeongsan 712-749, Republic of Korea
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque.

Keywords

Torque distributionRedundantly actuationParallel mechanismGeometrical approachStiffness matrixScrew theory
Type
Articles
Information
Robotica , Volume 31 , Issue 4 , July 2013 , pp. 549 - 554
Copyright
Copyright © Cambridge University Press 2012 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Wang, J., Wu, J., Li, T. and Liu, X., “Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy,” Robotica 27, 51–57 (2008).CrossRefGoogle Scholar
2.Callardo-Alvarado, J., Lesso-Arroyo, R. and Santos-Miranda, J., “A worm-inspired new spatial hyper-redundant manipulator,” Robotica 29 (4), 571–579 (2011).CrossRefGoogle Scholar
3.Kim, J., Park, F. C., Ryu, S. J., Kim, J., Hwang, J., Park, C. and Iurascu, C., “Design and analysis of a redundantly actuated parallel mechanism for rapid machining,” IEEE Trans. Robot. Autom. 17 (4), 423–434 (2001).CrossRefGoogle Scholar
4.Seo, T., Kang, D. S., Kim, H. S. and Kim, J., “Dual servo control of a high-tilt 3-DOF micro parallel positioning platform,” IEEE-ASME Trans. Mechatronics 14 (5), 616–25 (2009).Google Scholar
5.Kim, J., Hwang, J.-C., Kim, J.-S., Iurascu, C. C., Park, F. C. and Cho, Y. M., “Eclipse-II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions,” IEEE Trans. Robot. Autom. 18 (3), 367–373 (2002).Google Scholar
6.Jeong, J., Kang, D., Cho, Y. M. and Kim, J., “Kinematic calibration for redundantly actuated parallel mechanism,” J. Mech. Des. Trans. ASME, 126 (2), 307–318 (2004).CrossRefGoogle Scholar
7.Muller, A., “Internal preload control of redundantly actuated parallel manipulators – its application to backlash avoiding control,” IEEE Trans. Robot. 21 (4), 668–677 (2005).CrossRefGoogle Scholar
8.Lee, S., Kim, S., In, W., Kim, M., Jeong, J. I. and Kim, J., “Experimental verification of antagonistic stiffness planning for a planar parallel mechanism with 2-DOF force redundancy,” Robotica 27 (4), 547–554 (2011).CrossRefGoogle Scholar
9.Nokleby, S. B., Fisher, R., Podhorodeski, R. P. and Firmani, F., “Force capabilities of redundantly actuated parallel manipulators,” Mech. Mach. Theory. 40 (5), 578–599 (2005).CrossRefGoogle Scholar
10.Owen, W. S., Croft, E. A. and Benhabib, B., “Acceleration and torque redistribution for a dual-manipulator system,” IEEE Trans. Robot. 21 (6), 1226–1230 (2005).CrossRefGoogle Scholar
11.Kock, S. and Schumacher, W., “A parallel x-y manipulator with actuation redundancy for high-speed and active-stiffness applications,” IEEE Int. Conf. Robot. Autom. 3, 2295–2300 (1998).CrossRefGoogle Scholar
12.Park, D. I., Lee, S. H., Kim, S. H. and Kwak, Y. K., “Torque distribution using a weighted pseudoinverse in a redundantly actuated mechanism,” Adv. Robot., 17, 807–820 (2003).CrossRefGoogle Scholar
13.Duffy, J., Statics and Kinematics with Application to Robotics (Cambridge University Press, Cambridge, UK, 1996).CrossRefGoogle Scholar
14.Griffis, M. W., “Kinestatic Control: A Novel Theory for Simultaneously Regulating Force and Displacement,” Ph.D. Dissertation (University of Florida, Gainesville, FL, 1991).Google Scholar
15.Mohamed, M. G., Gosselin, C. M., “Design and analysis of kinemtically redundant parallel manipulators with configurable platforms,” IEEE Trans. Robot. 21 (3), 277–287, (2005).CrossRefGoogle Scholar
16.Zhang, B., “Design and Implementation of a 6-DOF Parallel Manipulator with Passive Force Control,” Ph.D. Dissertation (University of Florida, Gainesville, FL, 2005).Google Scholar
17.Moon, S.-K., Moon, Y. M., Kota, S. and Landers, R. G., “Screw theory-based metrology for design and error compensation of machine tools,” In: Proceedings of ASME Design Engineering Technology Conferences, 1, 1–11, Pittsburgh, PA (Sep. 9–12, 2001).Google Scholar
18.Honegger, M. and Codourey, A., “Redundancy resolution of a Cartesian space operated heavy industrial manipulator,” In: Proceedings of the IEEE International Conference on Robotics and Automation, May 16–20 (Springer, Berlin, Germany, 1998) pp 2094–2098.Google Scholar
19.Kim, T.-J., Yi, B.-J. and Suh, I. H., “Load distribution algorithms and experimentation for a redundantly actuated, singularity-free 3-DOF parallel haptic device,” In Proceedings of the IEEE/RSJ International Conference, Sep. 28–Oct. 2 (Springer, Berlin, Germany, 2004) pp. 480–486.Google Scholar
20.Woo, S.-M., “Development of Haptic Interface for Shift by Wire of Intelligent Automobile” MS Thesis (Yeungnam University, Republic of Korea, 2008).Google Scholar
21.Shim, H.-S., “Optimal Torque Distribution Method of Redundant 3-RRR Parallel Robot by Geometrical Analysis,” Ph.D. Thesis (in Korean) (Yeungnam University, Republic of Korea, 2009).Google Scholar