Two kinds of mechanical redundancies, namely kinematic redundancy and actuation redundancy, have been extensively studied due to their advantageous features in autonomous industry. Screw theory has been successfully applied to develop an analytical Jacobian of nonredundant parallel manipulators (PMs). However, to the best of our knowledge, screw theory has not been attempted for modeling of PMs with kinematic redundancies. Thus, first, through the mobility analysis of a simple nonredundant planar PM and its variations, this paper reviews kinematic and actuation redundancy systematically. Then, we demonstrated how to derive analytical Jacobian and also static force relationship for a PM with both kinematic and actuation redundancies by using the screw theory. Finally, simulations were performed to demonstrate the advantageous features of kinematic and actuation redundancies.
Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory
Manuscript received April 13, 2017; final manuscript received August 22, 2017; published online September 20, 2017. Assoc. Editor: Clement Gosselin.
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Kang, L., Kim, W., and Yi, B. (September 20, 2017). "Modeling and Analysis of Parallel Mechanisms With Both Kinematic and Actuation Redundancies Via Screw Theory." ASME. J. Mechanisms Robotics. December 2017; 9(6): 061007. https://doi.org/10.1115/1.4037805
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