Assessing the Actuation Redundancy Trade-off Effects on the Dynamic Performance of Planar Parallel Kinematic Machines

10.6567/IFToMM.14TH.WC.OS13.010

J. V. C. Fontes；G. S. Venter；M.M. da Silva

planar manipulators ； parallel kinematic machines ； actuation redundancy

Proceedings of the 14th IFToMM World Congress

14th-2（2015 / 10 / 27）

595 - 600

英文

It is known that both actuation and kinematic redundancy promote a significant reduction in the singularities and homogenization on the actuation forces. However, evaluating if these strategies are good solutions to increase the dynamic performance of a robotic system may not be a trivial task. In this manuscript, the actuation redundancy trade-off effect on the dynamic performance of planar parallel kinematic machines is assessed. Aiming this, a strategy to evaluate the dynamic performance regarding the system workspace is proposed. The results demonstrate that the benefits of actuation redundancy are highly dependent on the chosen trajectory, the end-effector position and pose.