Simulation and experimental verification of a global redundancy resolution for a 3PRRR prototype

Abstract

Parallel manipulators have kinematic chains connected to each other in a common point, the end effector. This design grants desirable characteristics to parallel manipulators, for instance high rigidity and load distribution. However they suffer from singularities inside their workspace which may cause low precision and high efforts. Aiming to overcome this problem, kinematic redundancy can be used to design new redundant manipulators which can avoid singularities and improve some manipulator’s characteristics with a proper redundancy resolution. Two approaches of a global redundancy resolution to avoid singularities and improve the manipulator’s dynamic performance in a 3PRRR manipulator prototype are presented. The experimental results show that the implemented redundancy resolution is suitable for the application.