Mode Changes of a Planar 3 DOF Redundantly Actuated Parallel Robot

摘要

A novel redundantly actuated planar parallel robot which enlarges the workspace by mode changes is proposed. Redundantly actuation and asymmetric design enables singularity avoided mode changes with loss redundancy but maintain non-singularity. In the assembly mode change, where the parallel robot transfers its configurations between two solutions of the direct kinematics, path planning which avoids singularity is proposed. In the working mode change, where the parallel robot transfers its configurations between two solutions of the inverse kinematics, the asymmetrical design contributes to singularity-free mode change. The singularities avoided mode changes were performed by newly developed prototype.