A new explicit methodology for the determination of the force-moment capabilities of nonredundantly and redundantly actuated planar parallel manipulators (PPMs) is presented. This methodology is based on properly adjusting the actuator outputs to their maximum capabilities. As a result, the wrench to be applied or sustained is maximized. For a nonredundantly actuated PPM, one actuator can be maximized, while for a redundantly actuated PPM, one actuator, beyond the one of the nonredundant case, may be maximized for every degree of redundancy added to the mechanism. This methodology is compared to a previous work that required an optimization algorithm. The new method yields more accurate and reliable results and is considerably more efficient. Four studies of force-moment capabilities are considered: maximum force with prescribed moment, maximum applicable force, maximum moment with a prescribed force, and maximum applicable moment. The methodology is used to generate the force-moment capabilities of an existing PPM throughout its workspace.
An Explicit Method for Determining the Force-Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators
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Zibil, A., Firmani, F., Nokleby, S. B., and Podhorodeski, R. P. (October 17, 2006). "An Explicit Method for Determining the Force-Moment Capabilities of Redundantly Actuated Planar Parallel Manipulators." ASME. J. Mech. Des. October 2007; 129(10): 1046–1055. https://doi.org/10.1115/1.2756084
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