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On redundancy resolution and energy consumption of kinematically redundant planar parallel manipulators

Published online by Cambridge University Press:  24 January 2018

Andrés Gómez Ruiz
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Av. Trabalhador São-Carlense, 400, 13566-590 São Carlos-SP, Brazil. E-mails: [email protected], [email protected]
João Cavalcanti Santos
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Av. Trabalhador São-Carlense, 400, 13566-590 São Carlos-SP, Brazil. E-mails: [email protected], [email protected]
Jan Croes
Affiliation:
Production Engineering, Machine Design and Automation (PMA) Section, Katholieke Universiteit Leuven, Celestijnenlaan 300, 3001 Leuven, Belgium. E-mails: [email protected], [email protected] Flanders Make, Oude Diestersebaan 133, 3920 Lommel, Belgium
Wim Desmet
Affiliation:
Production Engineering, Machine Design and Automation (PMA) Section, Katholieke Universiteit Leuven, Celestijnenlaan 300, 3001 Leuven, Belgium. E-mails: [email protected], [email protected] Flanders Make, Oude Diestersebaan 133, 3920 Lommel, Belgium
Maíra Martins da Silva*
Affiliation:
Department of Mechanical Engineering, São Carlos School of Engineering, University of São Paulo, Av. Trabalhador São-Carlense, 400, 13566-590 São Carlos-SP, Brazil. E-mails: [email protected], [email protected]
*
*Corresponding author. E-mail: [email protected]

Summary

Novel kinematic architectures can be alternatives for designing energy efficient robotic systems. In this work, the impact of kinematic redundancies in the energy consumption of a planar PKM, the 3PRRR manipulator, is experimentally verified. Because of the presence of the kinematic redundancies, the inverse kinematic problem presents infinity solutions. In this way, a redundancy resolution scheme based on the Model Predictive Control technique is proposed and exploited. It can be concluded that the energy consumption of the non-redundant parallel manipulator 3RRR for executing predefined tasks can be considerably reduced by the inclusion of kinematic redundancies.

Type
Articles
Copyright
Copyright © Cambridge University Press 2018 

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