Dynamic simulation of tetrahedron-based Tetrobot

Highly redundant parallel manipulators are gaining increased attention due to their capability to meet demands of strength, rigidity, kinematic structure, dexterity, reconfigurability, and fault tolerance. Most previous research has considered the kinematic resolution of highly redundant parallel manipulators, and the dynamic resolution of redundancy has not yet been studied for these systems. This paper presents the dynamic simulation of a highly redundant parallel manipulator called Tetrobot, a class of modular reconfigurable robotic systems. The modular concept is applied to formulate the kinematic and dynamic equations of motion. In this modular approach, kinematic and dynamic solutions are obtained for Tetrobot mechanisms by propagation through the structures. Results show that the pseudoinverse solution which minimizes the norm of acceleration may introduce stability problems, and the null space vector which avoids joint limits is required to ensure stability.

[1]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[2]  Tsuneo Yoshikawa,et al.  Analysis and Control of Robot Manipulators with Redundancy , 1983 .

[3]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[4]  Charles F. Reinholtz,et al.  Closed-Form Inverse Kinematic Analysis of Variable-Geometry Truss Manipulators , 1992 .

[5]  Gregory S. Chirikjian,et al.  Kinematically optimal hyper-redundant manipulator configurations , 1995, IEEE Trans. Robotics Autom..

[6]  S. N. Kramer,et al.  The Inverse Kinematic Solution of the Tetrahedron Based Variable-Geometry Truss Manipulator , 1992 .

[7]  Arthur C. Sanderson,et al.  A novel concentric multilink spherical joint with parallel robotics applications , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[8]  Arthur C. Sanderson,et al.  TETROBOT: a modular approach to parallel robotics , 1997, IEEE Robotics Autom. Mag..

[9]  Gregory S. Chirikjian,et al.  A modal approach to hyper-redundant manipulator kinematics , 1994, IEEE Trans. Robotics Autom..

[10]  Daniel E. Whitney,et al.  Resolved Motion Rate Control of Manipulators and Human Prostheses , 1969 .

[11]  S. Jain,et al.  Forward and Inverse Kinematic Solution of the Variable Geometry Truss Robot Based on an N-Celled Tetrahedron-Tetrahedron Truss , 1990 .

[12]  Peter Hughes,et al.  Inverse kinematics of variable-geometry truss manipulators , 1991, J. Field Robotics.

[13]  Shugen Ma.  A Balancing Technique to Stabilize Local Torque Optimization Solution of Redundant Manipulators , 1996 .

[14]  A. A. Maciejewski,et al.  Obstacle Avoidance , 2005 .

[15]  T. Yoshikawa,et al.  Task-Priority Based Redundancy Control of Robot Manipulators , 1987 .

[16]  Anthony A. Maciejewski.  Kinetic limitations on the use of redundancy in robotic manipulators , 1991, IEEE Trans. Robotics Autom..

[17]  Miomir Vukobratovic,et al.  A dynamic approach to nominal trajectory synthesis for redundant manipulators , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

[18]  John M. Hollerbach,et al.  Redundancy resolution of manipulators through torque optimization , 1987, IEEE J. Robotics Autom..