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首页> 外文会议>International Conference on Robot Intelligence Technology and Applications >Redundancy in Parallel Robots: A Case Study of Kinematics of a Redundantly Actuated Parallel Chewing Robot
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Redundancy in Parallel Robots: A Case Study of Kinematics of a Redundantly Actuated Parallel Chewing Robot

机译：并行机器人的冗余：一种冗余驱动的平行咀嚼机器人运动学的案例研究

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摘要

The term "redundancy" is associated with various concepts in the literature of parallel robots. The differences between these concepts can be confusing for the researchers. However, deep understanding of these concepts and their advantages and disadvantages allow for efficient synthesis and application of the parallel robots. In this paper, for better understanding of the differences between the concepts of redundancy in parallel robots, each concept is introduced and presented in the structure of a spatial parallel robot, moreover, the advantages and disadvantages of each concept are discussed. The actuation redundancy, in which the parallel robot is actuated by more actuators than required for controlling the degrees of freedom of the end-effector of the robot, is one of these concepts. Using redundant actuators in parallel robots, owing to bringing a variety of advantages for the robot, has become an emerging research topic. Adding kinematic constraints to the structure of a non-redundant parallel robot as a way to realize the actuation redundancy is studied in a redundantly actuated parallel chewing robot with two point contact higher kinematic pairs. Spatial chewing trajectory of a human subject is captured by a novel motion capture system and the captured trajectory is used as the input data for analytical study of the kinematics of the redundantly actuated parallel chewing robot. Finally, diverse applications of the mandibular motion capturing and the redundantly actuated parallel chewing robot in dentistry and industry are discussed.
机译：术语“冗余”术语与并行机器人的文献中的各种概念相关联。这些概念之间的差异可能会对研究人员令人困惑。然而，对这些概念的深刻理解及其优点和缺点允许有效的合成和应用并行机器人。在本文中，为了更好地理解并行机器人的冗余概念之间的差异，在空间并联机器人的结构中引入并呈现了每个概念，而且讨论了每个概念的优点和缺点。致动冗余，其中并联机器人由更多致动器致动，而不是控制机器人的端部执行器的自由度所需的是这些概念之一。由于为机器人带来了各种优势，使用冗余执行器，已成为一个新兴的研究主题。在一个具有两个点接触高运动对的冗余驱动的并行咀嚼机器人中研究了非冗余并行机器人的结构作为实现致动冗余的方式。人类受试者的空间咀嚼轨迹由新的运动捕获系统捕获，捕获的轨迹用作冗余致动的并行咀嚼机器人的运动学的分析研究的输入数据。最后，讨论了下颌运动捕获的各种应用以及牙科和行业中的冗余驱动的并行咀嚼机器人。

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