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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Antagonistic Stiffness Optimization of Redundantly Actuated Parallel Manipulators in a Predefined Workspace
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Antagonistic Stiffness Optimization of Redundantly Actuated Parallel Manipulators in a Predefined Workspace

机译：预定义工作空间中冗余驱动并联机器人的对角刚度优化

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摘要

An optimization procedure regarding shape of usable workspace and antagonistic stiffness is developed for a redundantly actuated parallel manipulator. The kinematic parameters such as configuration of the mechanism and length of linkages are optimized to maximize and equal out antagonistic stiffness of the redundantly actuated manipulator when the shape of usable workspace is given as a rectangle. The proposed procedure is verified by simulation and experiment with a 2-DOF planar manipulator. In the experiment, the principal axes of displacements of ellipses are measured when the corresponding external forces are imposed on the end-effector. The simulation and experimental results show that the proposed procedure is valid for designing the redundantly actuated parallel manipulator with maximum antagonistic stiffness.
机译：针对冗余驱动的并联机械手，开发了有关可用工作空间的形状和对抗刚度的优化程序。当可用工作空间的形状为矩形时，优化运动学参数（例如机构配置和连杆长度），以最大化并抵消冗余驱动机械手的对抗刚度。该仿真程序通过2-DOF平面机械手的仿真和实验得到验证。在实验中，当相应的外力施加在末端执行器上时，测量椭圆位移的主轴。仿真和实验结果表明，所提出的程序对于设计具有最大对抗刚度的冗余致动并联机械手是有效的。

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