직렬 매니퓰레이터 구조를 확장한 신규 여유구동 메커니즘

초록

Redundant actuation has various benefits; singularity elimination, stiffness enhancement, backlash reduction, driving torque reduction. However, redundant actuation can only be applied to parallel manipulator which make it disadvantageous. Main drawback is that workspace becomes smaller than serial manipulator. This is caused by geometric limitation of closed-chain in parallel mechanism. To solve this problem, we propose a new redundantly actuated parallel mechanism (RAPM). Proposed RAPM is realized by utilizing additional belt driven mechanism on a serial manipulator. In this paper, kinematic configuration and dynamics of proposed RAPM are presented. By these model, we analyze workspace, norm torque and peak torque of the proposed RAPM and verify that it had advantage of redundant actuation without reduction of workspace.

키워드