Analysis on Kinematics and Statics of Redundant Parallel Link Manipulators with Passive Joints

摘要

This paper presents analysis on kinematics and statics of redundant serial link manipulator and redundant parallel link manipulator with passive joints. Passive joint is a joint that the joint torque depends on the joint angle. Redundant manipulator is a manipulator that has actuated joints more than dimension of the task space. We study the theme not to be defined well the fundamental theory of the manipulator with passive joints. First, we study the redundant serial link manipulator with passive joints. We propose a solution method of kinematics and statics and a control method in a limited condition. Moreover, we can show a better performance of the serial link manipulator with additional passive joint, so-called semi-active joint, if we can control the equilibrium positions of passive joints by using numerical example. Secondary, we study the redundant parallel link manipulator with passive joints. We proposed a solution method of kinematics and statics. We can show the performance in each parallel link manipulator mode with semi-active joints by using numerical example.