Improving the pose accuracy of a planar 3RRR parallel manipulator using kinematic redundancy and optimized switching patterns

verfasst von

Jens Kotlarski, H. Abdellatif, Bodo Heimann

Abstract

In the present paper kinematic redundancy is proposed in order to improve the achievable pose accuracy of a parallel robot's traveling platform. An additional prismatic actuator is applied to a 3RRR planar parallel manipulator. It allows a selective reconfiguration of the kinematic structure according to several optimization criteria. Based on an index that we denote the gain of the Jacobian matrix the position of the redundant actuator is changed in a discrete manner. The resulting optimized switching patterns lead to a great increase of the traveling platform's pose accuracy. Between two switching operations the prismatic actuator's position is supposed to be locked. Hence, sources of error, e.g. the joint clearance, can be minimized. Several analysis examples demonstrate the effectiveness of the proposed concept in combination with the developed optimization procedure.

Organisationseinheit(en)

Institut für Mechatronische Systeme

Typ

Aufsatz in Konferenzband

Seiten

3863-3868

Anzahl der Seiten

6

Publikationsdatum

2008

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Software, Steuerungs- und Systemtechnik, Artificial intelligence, Elektrotechnik und Elektronik

Elektronische Version(en)

https://doi.org/10.1109/ROBOT.2008.4543804 (Zugang: Unbekannt)