Abstract
In the present work, the inverse displacement problem and the workspace of kinematically redundant planar parallel manipulators are discussed. Non-redundant and redundant planar parallel manipulators are compared. The advantages of redundant versus non-redundant parallel manipulators are discussed. Thereafter, two kinematically redundant planar parallel manipulators, one with 4 degrees of freedom (DOF), the other a new 6DOF design, are compared to similar non-redundant ones. It is shown here that both reachable and dexterous workspaces of the redundant manipulators are significantly larger compared to non-redundant manipulators of the same size. As a result, kinematic redundancy can be an appropriate solution for improving parallel manipulators’ characteristics.
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© 2006 CISM, Udine
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Ebrahimi, I., Carretero, J.A., Boudreau, R. (2006). Workspace Comparison of Kinematically Redundant Planar Parallel Manipulators. In: Zielińska, T., Zieliński, C. (eds) Romansy 16. CISM Courses and Lectures, vol 487. Springer, Vienna. https://doi.org/10.1007/3-211-38927-X_13
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DOI: https://doi.org/10.1007/3-211-38927-X_13
Publisher Name: Springer, Vienna
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