Force capabilities of redundantly-actuated parallel manipulators

Nokleby, Scott B.; Fisher, Rebecca E.; Podhorodeski, Ron P.; Firmani, Flavio

doi:10.1016/j.mechmachtheory.2004.10.005

Cited by 197 publications

(112 citation statements)

References 22 publications

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“…As the matrix G act is singular, the pseudo-inverse of G act is used to find the minimum norm of f act in some situations [27,30,72]:…”

Section: Pseudo-inverse Methodsmentioning

confidence: 99%

“…It is well known that redundantly actuated PMs [19][20][21] have been investigated and utilized extensively, since redundant actuations can avoid kinematic singularities [22][23][24][25][26][27], enlarge load capability [28][29][30], improve dynamic characteristics [31,32], and eliminate backlash [33,34] of the mechanisms. The distribution of driving forces/torques of a redundantly actuated PM belongs to the statically indeterminate problem.…”

Section: Introductionmentioning

confidence: 99%

“…In essence, the driving forces/torques distribution of active overconstrained PMs under different optimization goals is just a constrained optimization problem, however, the existing methods have not formed a unified one. The pseudo-inverse method is widely applied when the minimum driving forces/torques are selected as the objective [30,33,72]. A weighted coefficient method was proposed by Huang et al [73], to solve the load distribution of a redundantly actuated walking machine, in which the values of the weighted coefficients can be given arbitrarily according to different optimization goals.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Methods for Force Analysis of Overconstrained Parallel Mechanisms: A Review

Liu

Yao

et al. 2017

Chin. J. Mech. Eng.

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The force analysis of overconstrained PMs is relatively complex and difficult, for which the methods have always been a research hotspot. However, few literatures analyze the characteristics and application scopes of the various methods, which is not convenient for researchers and engineers to master and adopt them properly. A review of the methods for force analysis of both passive and active overconstrained PMs is presented. The existing force analysis methods for these two kinds of overconstrained PMs are classified according to their main ideas. Each category is briefly demonstrated and evaluated from such aspects as the calculation amount, the comprehensiveness of considering limbs' deformation, and the existence of explicit expressions of the solutions, which provides an important reference for researchers and engineers to quickly find a suitable method. The similarities and differences between the statically indeterminate problem of passive overconstrained PMs and that of active overconstrained PMs are discussed, and a universal method for these two kinds of overconstrained PMs is pointed out. The existing deficiencies and development directions of the force analysis methods for overconstrained systems are indicated based on the overview.

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“…As the matrix G act is singular, the pseudo-inverse of G act is used to find the minimum norm of f act in some situations [27,30,72]:…”

Section: Pseudo-inverse Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Methods for Force Analysis of Overconstrained Parallel Mechanisms: A Review

Liu

Yao

et al. 2017

Chin. J. Mech. Eng.

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show abstract

“…Kinematic calibration and model identification is much more involved as shown in (Jeong et al, 2004) and (Abdellatif et al, 2007). The force capability of redundantly actuated PKM were investigated in (Nokleby et al, 2005). A peculiarity of redundantly actuated PKM is the ability to generate internal prestress, via antagonistic control of the redundant drives, without generating end-effector forces.…”

Section: Literature Reviewmentioning

confidence: 99%

Redundant Actuation of Parallel Manipulators

Mueller¹

2008

Parallel Manipulators, Towards New Applications

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“…Torques were optimized using the ∞-norm resulting in higher force capabilities when compared to the pseudo-inverse solution. Nokleby et al (2005) developed a methodology to optimize the force capabilities of redundantly-actuated planar parallel manipulators using an n-norm, for large values of n, and a scaling factor. Garg et al (2007) implemented this approach to spatial parallel manipulators.…”

Section: Constrained Optimizationmentioning

confidence: 99%