Cable-Driven Parallel Manipulators with Extensible Rods

带可伸缩杆的电缆驱动并联机械手

• 批准号: RGPIN-2015-05123
• 负责人: Carretero, Juan
• 金额: $ 1.6万
• 依托单位: University of New Brunswick
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=590236
• 关键词: Cable; Driven; Parallel; Manipulators; Extensible

Redundancy of different types in the context of serial manipulators has reached a good level of maturity over the years. Most notably, kinematic redundancy (i.e., adding more joints and links than those strictly required by the task) for better kinematic performance or obstacle avoidance has been the focus of a number of works and successful manipulator designs (e.g., Canadarm). In parallel manipulators (PMs), however, redundancy is still in its infancy. Some recent works have used redundancy to tackle a few common issues of PMs (e.g., small workspace and highly singular workspaces) and to develop new or improved manipulator architectures. The research proposed here will study actuation redundancy from theoretical and practical perspectives.

多年来，串行机械手中不同类型的冗余已经达到了良好的成熟水平。最值得注意的是，运动冗余（即添加比任务严格要求更多的关节和连杆）以获得更好的运动性能或避障一直是许多工作和成功的机械臂设计（例如，Canadarm）的焦点。然而，在并联机械手 (PM) 中，冗余仍处于起步阶段。最近的一些工作使用冗余来解决 PM 的一些常见问题（例如，小工作空间和高度单一的工作空间），并开发新的或改进的操纵器架构。这里提出的研究将从理论和实践的角度研究驱动冗余。