Force redundancy in parallel manipulators: theoretical and practical issues. (English) Zbl 1049.70601

Summary: 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.


70E60 Robot dynamics and control of rigid bodies
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