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Design and analysis of kinematically redundant parallel manipulators with configurable platforms

机译：具有可配置平台的运动学冗余并联机械手的设计和分析

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Redundancy can, in general, improve the ability and performance of parallel manipulators by implementing the redundant degrees of freedom to optimize a secondary objective function. Almost all published researches in the area of parallel manipulators redundancy were focused on the design and analysis of redundant parallel manipulators with rigid (nonconfigurable) platforms and on grasping hands to be attached to the platforms. Conventional grippers usually are not appropriate to grasp irregular or large objects. Very few studies focused on the idea of using a configurable platform as a grasping device. This paper highlights the idea of using configurable platforms in both planar and spatial redundant parallel manipulators, and generalizes their analysis. The configurable platform is actually a closed kinematic chain of mobility equal to the degree of redundancy of the manipulator. The additional redundant degrees of freedom are used in reconfiguring the shape of the platform itself. Several designs of kinematically redundant planar and spatial parallel manipulators with configurable platform are presented. Such designs can be used as a grasping device especially for irregular or large objects or even as a micro-positioning device after grasping the object. Screw algebra is used to develop a general framework that can be adapted to analyze the kinematics of any general-geometry planar or spatial kinematically redundant parallel manipulator with configurable platform.
机译：通常，冗余可通过实现冗余的自由度来优化次要目标函数，从而提高并行操纵器的能力和性能。在并行机械手冗余领域几乎所有已发表的研究都集中在具有刚性（不可配置）平台的冗余并行机械手的设计和分析上，以及紧握要附加到平台上的手。传统的抓手通常不适合抓不规则或较大的物体。很少有研究关注使用可配置平台作为抓取设备的想法。本文重点介绍了在平面和空间冗余并行操纵器中使用可配置平台的想法，并对其分析进行了概括。可配置平台实际上是一条闭合的运动学运动链，它等于操纵器的冗余度。额外的冗余自由度用于重新配置平台本身的形状。提出了带有可配置平台的运动学冗余平面和空间并行机械手的几种设计。这样的设计可以用作特别是用于不规则或大型物体的抓取装置，或者甚至可以用作抓取物体后的微定位装置。螺丝代数用于开发通用框架，该通用框架适用于分析任何具有可配置平台的通用几何平面或空间运动学冗余并行操纵器的运动学。

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