Locally decoupled micromanipulation using an even number of parallel force actuators
New methods are found for arranging force actuators around a rigid body so that the system has locally decoupled and optimal manipulation characteristics. The closed-form solution leads directly to simple analytic formulas for the singular values of the manipulator Jacobian in terms of geometric des...
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| Veröffentlicht in: | IEEE transactions on robotics 2012-12, Vol.28 (6), p.1323-1334 |
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| container_title | IEEE transactions on robotics |
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| creator | Allais, A. A. McInroy, J. E. O'Brien, J. F. |
| description | New methods are found for arranging force actuators around a rigid body so that the system has locally decoupled and optimal manipulation characteristics. The closed-form solution leads directly to simple analytic formulas for the singular values of the manipulator Jacobian in terms of geometric design parameters. This makes it possible to easily design the local kinematics so that they meet desired specifications. Explicit formulas for designing the wrench/twist capabilities, achieving isotropy, maximizing the volume of achievable motions, and maximizing the minimum singular values are derived. Applications include design of generalized Gough-Stewart platforms (GSPs) and other parallel machines. To illustrate the power of the theory, the new methods are used to redesign an actual manipulator currently in use on the International Space Station (ISS). Unlike the existing manipulator, the new design is kinematically decoupled, isotropic, and fault tolerant - all highly desirable properties, especially in aerospace applications. |
| doi_str_mv | 10.1109/TRO.2012.2209229 |
| format | Article |
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E.</creatorcontrib><creatorcontrib>O'Brien, J. F.</creatorcontrib><title>Locally decoupled micromanipulation using an even number of parallel force actuators</title><title>IEEE transactions on robotics</title><addtitle>TRO</addtitle><description>New methods are found for arranging force actuators around a rigid body so that the system has locally decoupled and optimal manipulation characteristics. The closed-form solution leads directly to simple analytic formulas for the singular values of the manipulator Jacobian in terms of geometric design parameters. This makes it possible to easily design the local kinematics so that they meet desired specifications. Explicit formulas for designing the wrench/twist capabilities, achieving isotropy, maximizing the volume of achievable motions, and maximizing the minimum singular values are derived. Applications include design of generalized Gough-Stewart platforms (GSPs) and other parallel machines. To illustrate the power of the theory, the new methods are used to redesign an actual manipulator currently in use on the International Space Station (ISS). Unlike the existing manipulator, the new design is kinematically decoupled, isotropic, and fault tolerant - all highly desirable properties, especially in aerospace applications.</description><subject>Actuators</subject><subject>Adaptative systems</subject><subject>Applied sciences</subject><subject>Computer science; control theory; systems</subject><subject>Control theory. Systems</subject><subject>Design specifications</subject><subject>Drives</subject><subject>Exact sciences and technology</subject><subject>Fault tolerance</subject><subject>Kinematics</subject><subject>Linkage mechanisms, cams</subject><subject>Manipulation</subject><subject>Manipulators</subject><subject>Mechanical engineering. Machine design</subject><subject>mechanism design</subject><subject>Motors</subject><subject>Optimization</subject><subject>Parallel robots</subject><subject>Precision engineering, watch making</subject><subject>Redundancy</subject><subject>redundant robots</subject><subject>Robotics</subject><issn>1552-3098</issn><issn>1941-0468</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2012</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNo9kF1LwzAUhoMoOKf3gjcB8bIzOUnT5lKGXzAYyLwuaXoqHV1Sk1bYvzdjY-QigTzvezgPIfecLThn-nnztV4A47AAYBpAX5AZ15JnTKryMr3zHDLBdHlNbmLcMgZSMzEjm5W3pu_3tEHrp6HHhu46G_zOuG6YejN23tEpdu6HGkfxDx11067GQH1LBxNSFnva-mCRGjtOZvQh3pKr1vQR7073nHy_vW6WH9lq_f65fFllVgAfs0K2VtfIGshFXUKtCt1YrY21oHgLus6FBqugNMbUtkbQIhGSG-SKFSUTc_J47B2C_50wjtXWT8GlkRVX6RRSSZUodqTSWjEGbKshdDsT9hVn1cFdldxVB3fVyV2KPJ2KTUx62mCc7eI5ByWoslAycQ9HrkPE87eCXBW5EP88kHgh</recordid><startdate>20121201</startdate><enddate>20121201</enddate><creator>Allais, A. 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Machine design</topic><topic>mechanism design</topic><topic>Motors</topic><topic>Optimization</topic><topic>Parallel robots</topic><topic>Precision engineering, watch making</topic><topic>Redundancy</topic><topic>redundant robots</topic><topic>Robotics</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Allais, A. A.</creatorcontrib><creatorcontrib>McInroy, J. E.</creatorcontrib><creatorcontrib>O'Brien, J. 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A.</au><au>McInroy, J. E.</au><au>O'Brien, J. F.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Locally decoupled micromanipulation using an even number of parallel force actuators</atitle><jtitle>IEEE transactions on robotics</jtitle><stitle>TRO</stitle><date>2012-12-01</date><risdate>2012</risdate><volume>28</volume><issue>6</issue><spage>1323</spage><epage>1334</epage><pages>1323-1334</pages><issn>1552-3098</issn><eissn>1941-0468</eissn><coden>ITREAE</coden><abstract>New methods are found for arranging force actuators around a rigid body so that the system has locally decoupled and optimal manipulation characteristics. The closed-form solution leads directly to simple analytic formulas for the singular values of the manipulator Jacobian in terms of geometric design parameters. This makes it possible to easily design the local kinematics so that they meet desired specifications. Explicit formulas for designing the wrench/twist capabilities, achieving isotropy, maximizing the volume of achievable motions, and maximizing the minimum singular values are derived. Applications include design of generalized Gough-Stewart platforms (GSPs) and other parallel machines. To illustrate the power of the theory, the new methods are used to redesign an actual manipulator currently in use on the International Space Station (ISS). Unlike the existing manipulator, the new design is kinematically decoupled, isotropic, and fault tolerant - all highly desirable properties, especially in aerospace applications.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TRO.2012.2209229</doi><tpages>12</tpages></addata></record> |
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| ispartof | IEEE transactions on robotics, 2012-12, Vol.28 (6), p.1323-1334 |
| issn | 1552-3098 1941-0468 |
| language | eng |
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| subjects | Actuators Adaptative systems Applied sciences Computer science control theory systems Control theory. Systems Design specifications Drives Exact sciences and technology Fault tolerance Kinematics Linkage mechanisms, cams Manipulation Manipulators Mechanical engineering. Machine design mechanism design Motors Optimization Parallel robots Precision engineering, watch making Redundancy redundant robots Robotics |
| title | Locally decoupled micromanipulation using an even number of parallel force actuators |
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