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-2017-04248
• 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: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638604
• 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 and/or 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，在串行操纵器的背景下，不同类型的冗余已达到了良好的成熟水平。最值得注意的是，用于更好的运动学性能或避免障碍物的运动学冗余（即，添加比严格要求的关节和链接更多的关节和链接）是许多作品和成功的操纵器设计（例如Canadarm）的重点。但是，在并行操纵器（PMS）中，冗余仍处于起步阶段。最近的一些作品使用了冗余来解决一些PMS（例如，小和/或高度奇异工作区）的一些常见问题，并开发了新的或改进的操纵器体系结构。这里提出的研究将从理论和实际角度研究驱动冗余。