Singularity-Free 3-Leg 6-DOF Spatial Parallel Robot with Actuation Redundancy

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門（英文）

発行日: 2024/03/01

タイトル(英語): Singularity-Free 3-Leg 6-DOF Spatial Parallel Robot with Actuation Redundancy

著者名: Shunichi Sakurai (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

著者名(英語): Shunichi Sakurai (Department of System Design Engineering, Keio University), Seiichiro Katsura (Department of System Design Engineering, Keio University)

キーワード: parallel robot，singularity analysis，actuation redundancy，force control

要約(英語): Parallel robots with closed-loop kinematic chains have been used in industrial applications. They exhibit superior precision, stiffness, and operating speed than serial robots owing to their mechanical architecture. However, parallel robots demonstrate static singularity unique to parallel mechanisms, which further impede their application. Static singularity is caused by passive joints included in the mechanism. In this study, a 3-leg 6-DOF spatial parallel robot with actuation redundancy and its statics are analyzed. The analysis indicates that static singularity does not occur if actuation redundancy is properly introduced. This analysis is based on the decomposition of force transmission in the robot. Experimental results show that precise trajectory tracking and stable contact are achieved by virtue of the actuation redundancy. This study opens new avenues for the application of parallel robots.

本誌: IEEJ Journal of Industry Applications Vol.13 No.2 （2024） Special Issue on “Motion Control and its Related Technologies”

本誌掲載ページ: 127-134 p

原稿種別: 論文／英語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejjia/13/2/13_23003740/_article/-char/ja/