Redundant Actuation Investigation of a 5-DOF Parallel Robot

摘要

A 5-DOF (degree of freedom) parallel robot with redundant actuation is introduced. The force transfer matrix is set up and the influence of redundant actuating force is analyzed with influence coefficients. Based on the conventional Lagrange Equation, the dynamic formulation of this parallel robot with redundant actuation is derived. By taking joint friction into consideration, the redundant driving force optimization is analyzed in detail. This redundant force optimization strategy has been applied to the 5-DOF parallel robot successfully.