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ASME Journal of Mechanisms and Robotics

  • Special Issue: Selected Papers From IDETC-CIE 2020
    by Ben-Tzvi P, Notash L, Voglewede P. on May 3, 2021 at 12:00 am

    This special issue of the ASME Journal of Mechanisms and Robotics is a compendium of 25 of the best papers submitted and presented at the 44th ASME Mechanisms and Robotics Conference during the 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2020).

Exploiting Redundancies for Workspace Enlargement and Joint Trajectory Optimization of a Kinematically Redundant Hybrid Parallel Robot

Abstract

In this paper, possibilities for workspace enlargement and joint trajectory optimization of a (6 + 3)-degree-of-freedom kinematically redundant hybrid parallel robot are investigated. The inverse kinematic problem of the robot can be solved analytically, which is a desirable property of redundant robots, and is implemented in the investigations. A new method for detecting mechanical interferences between two links which are not directly connected is proposed for evaluating the workspace. Redundant degrees-of-freedom are optimized in order to further expand the workspace. An approach for determining the desired redundant joint coordinates is developed so that a performance index can be minimized approximately when the robot is following a prescribed Cartesian trajectory. The presented approaches are readily applicable to other kinematically redundant hybrid parallel robots proposed by the authors.
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