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首页> 外文会议>IEEE International Conference on Robotics and Biomimetics >From the McGill pepper-mill carrier to the Kindai ATARIGI Carrier: A novel two limbs six-dof parallel robot with kinematic and actuation redundancy
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From the McGill pepper-mill carrier to the Kindai ATARIGI Carrier: A novel two limbs six-dof parallel robot with kinematic and actuation redundancy

机译：从麦吉尔胡椒磨运输机到Kindai ATARIGI运输机：具有运动学和驱动冗余的新型两肢六自由度并联机器人

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摘要

ATARIGI, a novel two limbs six-dof parallel robot, redundantly driven by eight actuators, is proposed in this paper. By the special arrangement of the mechanism, ATARIGI simultaneously has kinematic redundancy and actuation redundancy. Kinematic redundancy enables singularity avoidance and collision avoidance, that contribute to expanding the workspace. Actuation redundancy generates an internal force that eliminates backlash at the joints, thus increasing the positioning accuracy. Mechanical design of ATARIGI is extended from the McGill Pepper-Mill Carrier, a two limbs parallel Schönflies-motion generator. Inverse displacement analysis and Jacobian analysis of ATARIGI are derived. For utilization of the actuation redundancy and the kinematic redundancy, the null space of each Jacobian matrix is derived by means of computer algebra. The null spaces are simplified in closed form, which eases the control. Numerical tests demonstrate the collision-avoidance between limbs, while keeping the position and orientation of the gripper using the kinematic redundancy.
机译：提出了一种新颖的两臂六自由度并联机器人，由八个执行器冗余驱动。通过机构的特殊布置，ATARIGI同时具有运动学冗余和致动冗余。运动冗余可实现避免奇异性和避免碰撞，从而有助于扩大工作空间。致动冗余产生的内力消除了接头处的反冲，从而提高了定位精度。 ATARIGI的机械设计从McGill Pepper-Mill Carrier扩展而来，McGill Pepper-Mill Carrier是两肢平行的Schönflies运动发生器。推导了ATARIGI的反位移分析和雅可比分析。为了利用致动冗余和运动学冗余，借助于计算机代数导出每个雅可比矩阵的零空间。空空间以封闭形式简化，从而简化了控制。数值测试表明，在避免肢体之间碰撞的同时，利用运动学上的冗余度保持了夹具的位置和方向。

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