| contributor author | Wen, Kefei | |
| contributor author | Gosselin, Clément | |
| date accessioned | 2022-02-06T05:41:55Z | |
| date available | 2022-02-06T05:41:55Z | |
| date copyright | 4/19/2021 12:00:00 AM | |
| date issued | 2021 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_13_4_040905.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4278571 | |
| description abstract | In this paper, possibilities for workspace enlargement and joint trajectory optimization of a (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robot are investigated. The inverse kinematic problem of the robot can be solved analytically, which is a desirable property of redundant robots, and is implemented in the investigations. A new method for detecting mechanical interferences between two links which are not directly connected is proposed for evaluating the workspace. Redundant degrees-of-freedom are optimized in order to further expand the workspace. An approach for determining the desired redundant joint coordinates is developed so that a performance index can be minimized approximately when the robot is following a prescribed Cartesian trajectory. The presented approaches are readily applicable to other kinematically redundant hybrid parallel robots proposed by the authors. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimization of a Kinematically Redundant Hybrid Parallel Robot | |
| type | Journal Paper | |
| journal volume | 13 | |
| journal issue | 4 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4050681 | |
| journal fristpage | 040905-1 | |
| journal lastpage | 040905-9 | |
| page | 9 | |
| tree | Journal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 004 | |
| contenttype | Fulltext | |
