Title :
Dynamic modeling of redundant parallel manipulators
Author :
Kim, Sungbok ; Youngchul Key
Author_Institution :
Dept. of Control & Instr. Eng., Hankuk Univ. of Foreign Studies, Kyoungki, South Korea
Abstract :
This paper presents the dynamic modeling of redundant parallel manipulators in joint and Cartesian spaces. Three types of redundancies of a parallel manipulator are considered, including the redundancies in serial chain, actuation, and parallelism. The joint space dynamic model of a parallel manipulator is obtained by imposing the joint space kinematic constraint on the joint space dynamics of individual limbs. The Cartesian space dynamic model of a parallel manipulator is then obtained by imposing the Cartesian space kinematic constraint on the joint space dynamic model. The dynamic models formulated in this paper enable us to analyze the effect of redundancies on the dynamic behavior of parallel manipulator
Keywords :
manipulator dynamics; manipulator kinematics; redundancy; Cartesian space; Cartesian space dynamic model; actuation redundancies; joint space dynamic model; joint space kinematic constraint; redundant parallel manipulators; serial chain redundancies; Assembly; Joining processes; Kinematics; Manipulator dynamics;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573460
