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Wrench Capabilities of a Kinematically Redundant Planar Parallel Manipulator

Published online by Cambridge University Press:  26 January 2021

Roger Boudreau Open the ORCID record for Roger Boudreau [Opens in a new window] ,
Scott Nokleby  and
Marise Gallant
Roger Boudreau*
Affiliation:
Université de Moncton, E-mail: marise.gallant@umoncton.ca
Scott Nokleby
Affiliation:
Ontario Tech University, E-mail: Scott.Nokleby@ontariotechu.ca
Marise Gallant
Affiliation:
Université de Moncton, E-mail: marise.gallant@umoncton.ca
*
*Corresponding author. E-mail: roger.a.boudreau@umoncton.ca
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Summary

This paper presents a methodology to obtain the wrench capabilities of a kinematically redundant planar parallel manipulator using a wrench polytope approach. A methodology proposed by others for non-redundant and actuation-redundant manipulators is adapted to a kinematically redundant manipulator. Four wrench capabilities are examined: a pure force analysis, the maximum force for a prescribed moment, the maximum reachable force, and the maximum moment with a prescribed force. The proposed methodology, which finds the exact explicit solution for three of the four wrench capabilities, does not use optimization and is very efficient.

Keywords

Parallel manipulatorsRedundant manipulatorsPolytopesForce/moment capabilitiesWrench performance indices
Type
Article
Information
Robotica , Volume 39 , Issue 9 , September 2021 , pp. 1601 - 1616
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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