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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]
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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 

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