Modeling and Applications of a Family of 5-DOF Parallel Mechanisms with Kinematic and Actuation Redundancy

[+] Author and Article Information
Long Kang

Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggi-do, 15588, South Korea

Wheekuk Kim

Professor, Department of Electro-Mechanical Systems Engineering, Korea University, 2511, Sejong-ro, Sejong, 339-700, South Korea

Byung-Ju Yi

Professor, Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggi-do, 15588, South Korea

1Corresponding author.

ASME doi:10.1115/1.4040462 History: Received March 13, 2018; Revised May 18, 2018


This paper introduces a family of statically balanced 5-DOF parallel mechanisms with kinematic and actuation redundancy. Moving platforms of this family of parallel mechanisms can provide 4-DOF Schönflies motion. Three applications are considered in this work. The first and second applications use kinematic redundancy to avoid parallel singularities and perform an auxiliary grasping task in sequence. The third application incorporates actuation redundancy into a kinematically redundant manipulator to increase the load-carrying capacity. Screw theory was used to derive the Jacobian of the 5-DOF parallel mechanism with kinematic and actuation redundancy. Parallel singularities can be completely alleviated by controlling the orientation of the redundant link, thereby obtaining a large rotational workspace, and actuation redundancy increases the load-carrying capacity. Using a commercially available multibody dynamic simulator, an example of trajectory was performed to illustrate the large rotational workspace of the first and second applications and compare the Euclidean norm of the vector of actuation torque of non-redundant and redundant parallel mechanisms. Three prototypes were also developed to demonstrate the output motion and static balancing property.

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