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actuatorredundancy

Robotica (1)

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1 results

Optimal design of aredundant spherical parallel manipulator
Sylvie Leguay-Durand, Claude Reboulet
Journal:

Robotica / Volume 15 / Issue 4 / July 1997

Published online by Cambridge University Press:

01 July 1997, pp. 399-405
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A new kinematic design of a parallel spherical wrist with actuatorredundancy is presented. A special feature of this parallel manipulator is thearrangement of co-axial actuators which allows unlimited rotation about any axisinside a cone-shaped workspace. A detailed kinematic analysis has shown thatactuator redundancy not only removes singularities but also increases workspacewhile improving dexterity. The structure optimization has been performed with aglobal dexterity criterion. Using a conditioning measure, a comparison with anon-redundant structure of the same type was performed and shows that asignificant improvement in dexterity has been obtained.