文档介绍：Mechanism and Machine Theory 44 (2009) 1070–1081
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Wrench capability analysis of redundantly actuated spatial
parallel manipulators
Venus Garg a, Scott B. Nokleby b, Juan A. Carretero a,*
a Department of Mechanical Engineering, University of New Brunswick, Fredericton, NB, Canada E3A 5A3
b University of Ontario Institute of Technology, Faculty of Engineering and Applied Science, Oshawa, ON, Canada L1H 7K4
article info abstract
Article history: From a design perspective, it is important to find the maximum load which can be applied
Received 17 November 2007 or sustained by a particular parallel manipulator. Wrench capability analysis is necessary
Received in revised form 17 April 2008 for this purpose. Recently, two methods, namely, a numerical, optimization-based scaling
Accepted 9 May 2008
factor method and an analytical method, have been proposed for determining the wrench
Available online 25 June 2008
capabilities of redundant planar parallel manipulators. In this work, these methods are
extended to redundant 6-DOF (degree-of-freedom) spatial manipulators. The methods
are applied to the spatial 3-RRRS device. Comparison between the two methods is made.
Keywords:
The results show that the analytical method is more efficient in determining maximum
Spatial parallel manipulator
Actuation redundancy wrench capabilities than the scaling factor method. The results for four different cases
Wrench capabilities studied under the analytical method are also presented.
Numerical scaling factor method Ó 2008 Elsevier Ltd. All rights reserved.
Analytical method
3-RRRS manipulator
1. Introduction
Parallel manipulators (PMs) are closed-loop mechanisms having a fixed base and a moving platform connected by more
than one branch. If a PM has more actuators than the total degrees-of-freedom (DOF) required for the task, the manipulator
is said to be red