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research-article

Exploiting The Kinematic Redundancy of a (6+3) Dof Parallel Mechanism

[+] Author and Article Information
Louis-Thomas Schreiber

Département de génie mécanique, Universit é Laval, 1065 Avenue de la Médecine, Québec, Qc, G1V 0A6, Canada
louis-thomas.schreiber.1@ulaval.ca

Clément Gosselin

Département de génie mécanique, Universit é Laval, 1065 Avenue de la Médecine, Québec, Qc, G1V 0A6, Canada
gosselin@gmc.ulaval.ca

1Corresponding author.

ASME doi:10.1115/1.4042346 History: Received October 04, 2018; Revised December 12, 2018

Abstract

This paper presents methods to exploit the redundancy of a kinematically redundant spatial parallel mechanism with 3 redundant dofs. The architecture of the mechanism is similar to the well-known Gough-Stewart platform and it retains its advantages, i.e., the members connecting the base to the moving platform are only subjected to tensile/compressive loads. The kinematic redundancy is exploited to avoid singularities and extend the rotational workspace. The architecture is described and the associated kinematic relationships are presented. Solutions for the inverse kinematics are given, as well as strategies to take into account the limitations of the mechanism such as mechanical interferences and velocity limits of the actuators while controlling the redundant degrees of freedom.

Copyright (c) 2018 by ASME
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