Force redundancy in parallel manipulators: Theoretical and practical issues

Dasgupta, Bhaskar and Mruthyunjaya, TS (1998) Force redundancy in parallel manipulators: Theoretical and practical issues. In: Mechanism and Machine Theory, 33 (06). pp. 727-742.

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Abstract

In contrast to kinematic redundancy (widely studied in literature) in serial manipulators, the natural choice should be force (static) redundancy in parallel manipulators. In this paper, the force redundancy has been studied as the series-parallel dual concept of kinematic redundancy and its implications in kinematics and dynamics of parallel manipulators are described. In particular, its effective utilization in reduction and elimination of static singularities of parallel manipulators is demonstrated. Numerical studies are also presented for two parallel manipulators to demonstrate the singularity reduction by a single degree of redundancy.

Item Type:	Journal Article
Publication:	Mechanism and Machine Theory
Publisher:	Elsevier Science
Additional Information:	Copyright of this article belongs to Elsevier Science.
Department/Centre:	Division of Mechanical Sciences > Mechanical Engineering
Date Deposited:	21 Jul 2009 15:00
Last Modified:	19 Sep 2010 05:24
URI:	http://eprints.iisc.ac.in/id/eprint/18655

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