Force Redundancy in Parallel Manipulators: Theoretical and Practical Issues
by Bhaskar Dasgupta and T. S. Mruthyunjaya
Abstract:
In contrast
to kinematic redundancy (widely studied in literature) in serial
manipulators, the natural choice should be force (static)
redundancy in parallel manipulators. In this paper, the force
redundancy has been studied as the series-parallel dual concept
of kinematic redundancy and its implications in kinematics and
dynamics of parallel manipulators are described. In particular,
its effective utilization in reduction and elimination of static
singularities of parallel manipulators is demonstrated. Numerical
studies are also presented for two parallel manipulators to demonstrate
the singularity reduction by a single degree of redundancy.