Kinematic optimization for isotropic stiffness of redundantly actuated parallel manipulators

Author

Shin, Hyunpyo ; Lee, Sungcheul ; Jeong, Jay I. ; Kim, Jongwon

Author_Institution

Sch. of Mech. & Aerosp. Eng., Seoul Nat. Univ., Seoul, South Korea

fYear

2011

fDate

9-13 May 2011

Firstpage

3230

Lastpage

3235

Abstract

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.

Keywords

optimisation; redundant manipulators; 2-DOF planar manipulator; isotropic antagonistic stiffness; kinematic optimization procedure; redundant actuated parallel manipulators; Force; Indexes; Kinematics; Manipulators; Optimization; Shape; Transmission line matrix methods; Mechanism Design of Manipulators; Parallel Robots; Redundant Robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979788

Filename

5979788