Kinematic Optimization for Isotropic Stiffness of Redundantly Actuated Parallel Manipulators

摘要：

A kinematic optimization procedure for redundantly actuated parallel manipulator is developed to ensure the isotropic antagonistic stiffness in a workspace. The kinematic parameters of the mechanism are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when size and shape of the usable workspace are given but position in the entire workspace is not. The proposed procedure is verified with a 2-DOF planar manipulator by experiments. The experimental results show that the proposed procedure is useful for designing the redundantly actuated parallel manipulator with isotropic antagonistic stiffness in a predefined usable workspace as a design constraint.

关键词： Mechanism Design of Manipulators Parallel Robots Redundant Robots

作者: Hyunpyo Shin SungCheul Lee Jay. I. Jeong Jongwon Kim

作者单位: School of Mechanical and Aerospace Engineering,Seoul National University,Sillim 9-Dong,Gwanak-Gu,Seo Korea Institute of Machinery and Materials,104 Sinseongno,Yuseong-gu,Daejeon,South Korea,305-343 School of Mechanical and Automotive Engineering,Kookmin University,861-1 Jeongneung-Dong,Songbuk-Gu,

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 3230-3235

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）