Generation and application of prestress in redundantly full-actuated parallel manipulators |
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Authors: | Andreas Müller Peter Maisser |
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Affiliation: | 1.Institute of Mechatronics,Chemnitz University of Technology,Chemnitz,Germany |
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Abstract: | This paper addresses the inverse dynamics of redundantly actuated parallel manipulators. Such manipulators feature advantageous
properties, such as a large singularity-free workspace, a high possible acceleration of the moving platform, and higher dexterity
and manipulability. Redundant actuation further allows for prestress, i.e., internal forces without generating end-effector
wrenches. This prestress can be employed for various goals. It can potentially be used to avoid backlash in the driving units
or to generate a desired tangential end-effector stiffness. In this paper, the application of prestress is addressed upon
the inverse dynamics solution.
A general formulation for the dynamics of redundantly actuated parallel manipulators is given. For the special case of simple
redundancy, a closed-form solution is derived in terms of a single prestress parameter. This yields an explicit parametrization
of prestress. With this formulation an open-loop prestress control is proposed and applied to the elimination of backlash.
Further, the generation of tangential end-effector stiffness is briefly explained. The approach is demonstrated for a planar
4RRR manipulator and a spatial heptapod. |
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Keywords: | Parallel manipulator Redundant actuation Inverse dynamics Prestress Backlash Model based control Stiffness-control |
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