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.


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.

Copyright © 2012 by American Society of Mechanical Engineers
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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.

Grahic Jump Location
Figure 2

Trajectory for the end-effector

Grahic Jump Location
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)

Grahic Jump Location
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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