ASSESSING THE DYNAMIC PERFORMANCE OF KINEMATICALLY REDUNDANT MANIPULATORS
João Vitor de Carvalho Fontes1; Maíra Martins da Silva1
1 University of São Paulo - São Carlos School of Engineering
doi:10.20906/CPS/COB-2015-1607
Resumo
Parallel manipulators have attracted the attention of academic and industrial communities due to their advantages over serial architectures. However, the singularities presented in the workspace of these manipulators cause some problems e. g. low precision and high torques. To avoid such problems, the kinematic redundancy can be applied to the architecture of the parallel manipulator. Considering these aspects, the objective of this paper is to measure the impact of the different levels of kinematic redundancy in the dynamic performance over the manipulators workspace. Four manipulators are evaluated, the non-redundant 3RRR and three kinematically redundant configurations: the (P)RRR+2RRR, the 2(P)RRR+RRR and the 3(P)RRR. A dynamic index is proposed and calculated over the manipulators workspace. Such analysis allow the generation of dynamic maps which can be compared, highlighting the benefits on the dynamics performance by applying kinematic redundancy.
Palavras-chave: parallel manipulators; kinematic redundancy; dynamic performance