Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

Details Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

2008-09-18

arxiv.org/abs/0809.3044v1

Computer Science

Robotics

Published in: Advances in Robot Kinematics, France (2008)

Scientific paper

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is to select the actuated joint in each limb with regard to the pose of the end-effector. First, the architecture of the mechanism and two kinetostatic performance indices are described. Then, the actuating modes of the mechanism are compared.

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