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Recent Progress in Robotics: Viable Robotic Service to Human pp 79–90Cite as

Fully-Isotropic T1R3-Type Redundantly-Actuated Parallel Manipulators

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 370))

Abstract

The paper presents T1R3-type fully-isotropic redundantly-actuated parallel manipulators (PMs) with four degrees of freedom. The mobile platform has one independent translation (T1) and three independent rotations (R3). A method is proposed for structural synthesis of fully-isotropic redundantly-actuated T1R3-type PMs based on the theory of linear transformations. A one-to-one correspondence exists between the actuated joint velocity space and the external velocity space of the moving platform. The Jacobian matrix mapping the two vector spaces of fully-isotropic T1R3- type PMs presented in this paper is 4×4 identity matrix throughout the entire workspace. The condition number and the determinant of the Jacobian matrix being equal to one, the manipulator performs very well with regard to force and motion transmission capabilities. Redundant actuation is used to obtain fully-isotropic solutions. As far as we are aware, this paper presents for the first time in the literature the use of redundancy to design fully-isotropic T1R3-type PMs.

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Authors and Affiliations

  1. Mechanical Engineering Research Group Blaise Pascal University and French Institute of Advanced Mechanics Clermont-Ferrand, France

    Grigore Gogu

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  1. Grigore Gogu
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Sukhan Lee Il Hong Suh Mun Sang Kim

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Gogu, G. (2007). Fully-Isotropic T1R3-Type Redundantly-Actuated Parallel Manipulators. In: Lee, S., Suh, I.H., Kim, M.S. (eds) Recent Progress in Robotics: Viable Robotic Service to Human. Lecture Notes in Control and Information Sciences, vol 370. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-76729-9_7

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  • DOI: https://doi.org/10.1007/978-3-540-76729-9_7

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76728-2

  • Online ISBN: 978-3-540-76729-9

  • eBook Packages: EngineeringEngineering (R0)

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