Analysis and Control of Redundant Parallel Manipulators

As we all know, singularity is commonly encountered in parallel mechanisms. It is shown that the behavior of singularity of parallel mechanisms could be more complicated than that of serial ones. However, it is not very clear whether singularity will bring problems to kinematics, dynamics or other characteristics and what result will be caused when parallel mechanisms fall into the neighborhood of a singularity. In this paper, we focus on the study of the undesired e ects of singularity in parallel mechanisms and propose a method to solve them, namely, the method of redundancy. Three kinds of redundant methods are developed and their advantages are discussed. In the experiments, we concentrate on the control of redundantly actuated parallel mechanisms. We control the parallel mechanisms tracking a given trajectory by kinematic control method and dynamic control method respectively. Experimental results veri ed the e ciency of the proposed algorithms.