Simulation-based actuator selection for redundantly actuated robot mechanisms

This article presents a simulation-based strategy for sizing the actuators of a redundantly actuated robotic mechanism. The class of robotic mechanisms we consider may contain one or more closed loops and possess an arbitrary number of active and passive joints, and the number of actuators may exceed the mechanism's kinematic degrees of freedom. Our approach relies on a series of dynamic simulations of the mechanism, by applying Taguchi's method to systematically perform the simulations. To efficiently perform each of the dynamic simulations, we develop, using tools from modern screw theory, new recursive algorithms for the forward and inverse dynamics of the class of redundantly actuated mechanisms described. © 2002 Wiley Periodicals, Inc.

[1]  John J. Murray,et al.  Dynamic modeling of closed-chain robotic manipulators and implications for trajectory control , 1989, IEEE Trans. Robotics Autom..

[2]  Frank Chongwoo Park,et al.  Coordinate-invariant algorithms for robot dynamics , 1999, IEEE Trans. Robotics Autom..

[3]  Jean-Pierre Merlet.  Efficient computation of the extremum of the articular velocities of a parallel manipulator in a translation workspace , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[4]  Frank Chongwoo Park,et al.  A Lie Group Formulation of Robot Dynamics , 1995, Int. J. Robotics Res..

[5]  F. Park,et al.  Symbolic formulation of closed chain dynamics in independent coordinates , 1999 .

[6]  Yuan F. Zheng,et al.  Computation of input generalized forces for robots with closed kinematic chain mechanisms , 1985, IEEE J. Robotics Autom..

[7]  Yoshihiko Nakamura,et al.  Dynamics computation of closed-link robot mechanisms with nonredundant and redundant actuators , 1989, IEEE Trans. Robotics Autom..

[8]  Jean-Pierre Merlet,et al.  Efficient estimation of the extremal articular forces of a parallel manipulator in a translation workspace , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[9]  Genichi Taguchi,et al.  Taguchi on Robust Technology Development , 1992 .

[10]  J. Wittenburg,et al.  Dynamics of systems of rigid bodies , 1977 .

[11]  S.-J. Ryu,et al.  Eclipse: an Overactuated Parallel Mechanism for Rapid Machining , 1999 .

[12]  Bernard Roth,et al.  In-Parallel Manipulators: A Framework on How to Model Actuation Schemes and a Study of their Effects on Singular Postures , 1999 .

[13]  Frank Chongwoo Park,et al.  A Lie group formulation of the dynamics of cooperating robot systems , 1997, Robotics Auton. Syst..

[14]  Delbert Tesar,et al.  OPTIMAL ACTUATOR SIZING FOR ROBOTIC MANIPULATORS BASED ON LOCAL DYNAMIC CRITERIA. , 1984 .

[15]  Roger W. Brockett,et al.  Robotic manipulators and the product of exponentials formula , 1984 .

[16]  Chikusa-ku Nagoya.  Input/Output Force Analysis of Parallel Link Manipulators , 1993 .

[17]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .