Theoretically, parallel manipulators perform higher precision than their serial counterparts. However, the output accuracy is sensitive to their configurations and dimensions. This paper presents a kind of parallel manipulator with kinematically redundant structure, which can improve the output accuracy by optimizing the error transmission from the active joints to the end-effector. With the kinematic redundancy, free redundant variables can be defined as second task variables, which provide the possibility to select a proper configuration for least error transmission at any pose (the position and orientation) of the end-effector for a given task. Contrast to non-redundant manipulators, the output errors of the proposed manipulator, caused by the active joints input errors, can be optimized rather than determined. By this goal, new limbs with redundant parallel structures are introduced to non-redundant planar parallel manipulators. Numerical example shows that the new architecture has the potential to enhance the output accuracy for a given pose or prescribed trajectory of the end-effector.
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ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 30–September 2, 2009
San Diego, California, USA
Conference Sponsors:
- Design Engineering Division and Computers in Engineering Division
ISBN:
978-0-7918-4904-0
PROCEEDINGS PAPER
A Kind of Kinematically Redundant Planar Parallel Manipulator for Optimal Output Accuracy
Genliang Chen,
Genliang Chen
Shanghai Jiao Tong University, Shanghai, China
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Hao Wang,
Hao Wang
Shanghai Jiao Tong University, Shanghai, China
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Yong Zhao,
Yong Zhao
Shanghai Jiao Tong University, Shanghai, China
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Zhongqin Lin
Zhongqin Lin
Shanghai Jiao Tong University, Shanghai, China
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Genliang Chen
Shanghai Jiao Tong University, Shanghai, China
Hao Wang
Shanghai Jiao Tong University, Shanghai, China
Yong Zhao
Shanghai Jiao Tong University, Shanghai, China
Zhongqin Lin
Shanghai Jiao Tong University, Shanghai, China
Paper No:
DETC2009-86184, pp. 475-483; 9 pages
Published Online:
July 29, 2010
Citation
Chen, G, Wang, H, Zhao, Y, & Lin, Z. "A Kind of Kinematically Redundant Planar Parallel Manipulator for Optimal Output Accuracy." Proceedings of the ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B. San Diego, California, USA. August 30–September 2, 2009. pp. 475-483. ASME. https://doi.org/10.1115/DETC2009-86184
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