Details
| Original language | English |
|---|---|
| Pages (from-to) | 120-134 |
| Number of pages | 15 |
| Journal | Frontiers of Mechanical Engineering |
| Volume | 7 |
| Issue number | 2 |
| Publication status | Published - 12 Jun 2012 |
Abstract
In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i. e., singularityfree, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.
Keywords
- kinematic redundancy, operational workspace, parallel robots, singularity avoidance
ASJC Scopus subject areas
- Engineering(all)
- Mechanical Engineering
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In: Frontiers of Mechanical Engineering, Vol. 7, No. 2, 12.06.2012, p. 120-134.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Influence of kinematic redundancy on the singularity-free workspace of parallel kinematic machines
AU - Kotlarski, Jens
AU - Heimann, Bodo
AU - Ortmaier, Tobias
PY - 2012/6/12
Y1 - 2012/6/12
N2 - In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i. e., singularityfree, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.
AB - In this paper the effect of kinematic redundancy in order to reduce the singularity loci of the direct kinematics and to increase the operational, i. e., singularityfree, workspace is demonstrated. The proposed approach consists of additional prismatic actuators allowing one or more base joints to move linearly. As a result, a selective reconfiguration can be performed in order to avoid singular configurations. Exemplarily, kinematically redundant schemes of four structures, the 3RRR, the 3RPR, the 6UPS, and the 6RUS, are considered. The relationship between the redundancy and the operational workspace is studied and several analysis examples demonstrate the effectiveness of the proposed concept. Furthermore, the additional benefit of an increasing number of redundant actuators is discussed.
KW - kinematic redundancy
KW - operational workspace
KW - parallel robots
KW - singularity avoidance
UR - http://www.scopus.com/inward/record.url?scp=84862133123&partnerID=8YFLogxK
U2 - 10.1007/s11465-012-0321-8
DO - 10.1007/s11465-012-0321-8
M3 - Article
AN - SCOPUS:84862133123
VL - 7
SP - 120
EP - 134
JO - Frontiers of Mechanical Engineering
JF - Frontiers of Mechanical Engineering
SN - 2095-0233
IS - 2
ER -