- 期刊
- OpenAccess
Assessing the Actuation Redundancy Trade-off Effects on the Dynamic Performance of Planar Parallel Kinematic Machines
並列摘要
It is known that both actuation and kinematic redundancy promote a significant reduction in the singularities and homogenization on the actuation forces. However, evaluating if these strategies are good solutions to increase the dynamic performance of a robotic system may not be a trivial task. In this manuscript, the actuation redundancy trade-off effect on the dynamic performance of planar parallel kinematic machines is assessed. Aiming this, a strategy to evaluate the dynamic performance regarding the system workspace is proposed. The results demonstrate that the benefits of actuation redundancy are highly dependent on the chosen trajectory, the end-effector position and pose.
延伸閱讀
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