Antagonistic Stiffness Optimization of Redundantly Actuated Parallel Manipulators in a Predefined Workspace

An optimization procedure regarding shape of usable workspace and antagonistic stiffness is developed for a redundantly actuated parallel manipulator. The kinematic parameters such as configuration of the mechanism and length of linkages are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when the shape of usable workspace is given as a rectangle. The proposed procedure is verified by simulation and experiment with a 2-DOF planar manipulator. In the experiment, the principal axes of displacements of ellipses are measured when the corresponding external forces are imposed on the end-effector. The simulation and experimental results show that the proposed procedure is valid for designing the redundantly actuated parallel manipulator with maximum antagonistic stiffness.

[1]  Jae-Bok Song,et al.  A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications , 2010, IEEE/ASME Transactions on Mechatronics.

[2]  S. Nokleby,et al.  Force capabilities of redundantly-actuated parallel manipulators , 2005 .

[3]  JongWon Kim,et al.  Kinematic Calibration for Redundantly Actuated Parallel Mechanisms , 2004 .

[4]  Dimitar Chakarov,et al.  Study of the antagonistic stiffness of parallel manipulators with actuation redundancy , 2004 .

[5]  Charles W. Wampler,et al.  Solving a Planar Four-Bar Design Problem Using Continuation , 1990 .

[6]  Marco Ceccarelli,et al.  Comparison of indices for stiffness performance evaluation , 2010 .

[7]  Jinsong Wang,et al.  Kinematics, singularity and workspace of planar 5R symmetrical parallel mechanisms , 2006 .

[8]  Qingsong Xu,et al.  An investigation on mobility and stiffness of a 3-DOF translational parallel manipulator via screw theory , 2008 .

[9]  Il Hong Suh,et al.  Optimal design and development of a five-bar finger with redundant actuation , 2001 .

[10]  Frank Chongwoo Park,et al.  Eclipse II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions , 2001, IEEE Trans. Robotics Autom..

[11]  Anna Kosinska,et al.  Determination of parameters of 3-dof spatial orientation manipulators for a specified workspace , 2003, Robotica.

[12]  Frank Chongwoo Park,et al.  Design and analysis of a redundantly actuated parallel mechanism for rapid machining , 2001, IEEE Trans. Robotics Autom..

[13]  Clément Gosselin,et al.  Singularity analysis of closed-loop kinematic chains , 1990, IEEE Trans. Robotics Autom..

[14]  Clément Gosselin,et al.  Parametric Stiffness Analysis of the Orthoglide , 2004, ArXiv.

[15]  Marco Ceccarelli,et al.  A multi-objective optimum design of general 3R manipulators for prescribed workspace limits , 2004 .

[16]  Andreas Müller,et al.  Internal Preload Control of Redundantly Actuated Parallel Manipulators—Its Application to Backlash Avoiding Control , 2005, IEEE Transactions on Robotics.

[17]  Jinsong Wang,et al.  An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF Hybrid Machine Tool , 2009, IEEE/ASME Transactions on Mechatronics.

[18]  J. Merlet,et al.  Five Precision Point Synthesis of Spatial RRR Manipulators Using Interval Analysis , 2004 .

[19]  Xin-Jun Liu,et al.  Performance atlases and optimum design of planar 5R symmetrical parallel mechanisms , 2006 .

[20]  Scott B. Nokleby,et al.  Wrench capability analysis of redundantly actuated spatial parallel manipulators , 2009 .

[21]  C. Park,et al.  Singularity Analysis of Closed Kinematic ChainsF , 2004 .

[22]  Sang-Ho Hyon.  A Motor Control Strategy With Virtual Musculoskeletal Systems for Compliant Anthropomorphic Robots , 2009, IEEE/ASME Transactions on Mechatronics.

[23]  Il Hong Suh,et al.  Optimal design of a five-bar finger with redundant actuation , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[24]  Clément Gosselin,et al.  Conceptual Design and Dimensional Synthesis of a Novel 2-DOF Translational Parallel Robot for Pick-and-Place Operations , 2004 .

[25]  Vincent Hayward,et al.  Multiple-goal kinematic optimization of a parallel spherical mechanism with actuator redundancy , 1992, IEEE Trans. Robotics Autom..

[26]  Septimiu E. Salcudean,et al.  Fast constrained global minimax optimization of robot parameters , 1998, Robotica.