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Technical Briefs

Overall Motion Planning for Kinematically Redundant Parallel Manipulators

[+] Author and Article Information
Juan A. Carretero1

Department of Mechanical Engineering,  University of New Brunswick, Fredericton, NB, E3B 5A3, CanadaJuan.Carretero@unb.ca

Iman Ebrahimi

Mechatronic Systems Engineering,  Simon Fraser University, Burnaby, BC, V3T 0A3, Canadaimane@sfu.ca

Roger Boudreau

Département de Génie Mécanique,  Université de Moncton, Moncton, NB, E1A 3E9, Canadaroger.a.boudreau@umoncton.ca

The terminology used is the following. A 3-RP RR mechanism indicates that the end-effector is connected to the base by three serial kinematic chains (limbs), each consisting of two active (and therefore underlined) joints, one revolute (R) followed by a prismatic (P) followed by two passive revolute joints, the second of which connects the limb to the end-effector.

1

Corresponding author.

J. Mechanisms Robotics 4(2), 024502 (Apr 24, 2012) (5 pages) doi:10.1115/1.4006523 History: Received June 17, 2009; Revised February 15, 2012; Published April 23, 2012; Online April 24, 2012

In this work, a new approach for motion planning of kinematically redundant parallel manipulators is proposed and compared with a method previously proposed by the authors called point-to-point motion planning (PPMP). Overall motion planning (OMP) consists of determining actuation schemes that optimize the manipulator’s performance while considering the entire given trajectory of the end-effector at once. The results of OMP are compared with those of PPMP of a kinematically redundant manipulator. It is shown that the proposed OMP strategy can generate actuation schemes for given trajectories such that the manipulator avoids singular configurations better than the PPMP strategy.

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Copyright © 2012 by American Society of Mechanical Engineers
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Figures

Grahic Jump Location
Figure 1

The 3-RP RR planar 6-DOF kinematically redundant parallel manipulator. If angles θ i ’s were fixed, the manipulator would be a 3-P RR.

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Figure 2

Trajectory for the end-effector

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Figure 3

Influence of the number of control points on the optimal fitness value (solid line) and convergence time as measured by the number of iterations needed to converge (dashed line)

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Figure 4

Actuation schemes for the prismatic actuators of the 3-RP RR manipulator, using PPMP, OMP with local optimization and OMP with global optimization

Grahic Jump Location
Figure 5

Values of N for PPMP and OMP methods for the test trajectory

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