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Efficient optimal force distribution method of the parallel mechanism with actuator redundancy based on geometric interpretation

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Abstract

A numerically efficient force distribution method for actuator saturation avoidance is proposed, which is applicable to two different types of the mechanisms with two degrees of actuator redundancy, parallel mechanism (PM) and cable-driven parallel mechanism (CDPM). The proposed method searches the optimal force solutions based on their geometric interpretation. Each actuator force with two degrees of actuator redundancy is expressed as a plane equation with respect to two intermediate variables. Thus, the optimal forces are found by searching for both the intersections between force planes and the common intersection points among those force planes. The proposed method for each of PM and CDPM is described. Then for two different exemplary mechanisms, the 2T2R -type 4 -DOF CDPM with six actuation cables and for the 2T1R -type planar 3- DOF PM with five active joints, comparative simulations moving along the spiral trajectory are conducted, employing three different methods, the proposed method and the other two typical off-line methods, the interior point method and the linear matrix inequality method. It is confirmed from those simulation results that the computational efficiency of the proposed method in finding their desired optimal force solutions is superior to the ones of the other two typical offline optimal searching methods and also sufficiently fast enough in real time applications.

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Acknowledgements

This research was in part supported by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology (NRF-2015R1D1A1A01061193) and this work was supported partly by Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Education (2015R1D1A1 A01060319). This work was in part supported by the TechTechnology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, Development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This research was supported in part by Basic Science Research Program through the National Research Foundation of Korea(NRF) funded by the Ministry of Education (NRF-2018R1D1A1A09082888).

Author information

Authors and Affiliations

  1. Department of Electro-Mechanical System Engineering, Korea University, Sejong, 30019, Korea

    Youngsu Cho, Joono Cheong & Wheekuk Kim

  2. Department of Mechanical and Biomedical Engineering, Kangwon University, Chuncheon, Korea

    Min Gun Kim

  3. Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggido, Korea

    Byung-Ju Yi

Authors
  1. Youngsu Cho
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  2. Joono Cheong
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  3. Min Gun Kim
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  4. Byung-Ju Yi
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  5. Wheekuk Kim
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Corresponding author

Correspondence to Wheekuk Kim.

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Recommended by Associate Editor Hugo Rodrigue

Youngsu Cho received B.S. and M.S. from the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea, in 2011 and 2013, respectively. From 2013, he has been pursuing his Ph.D. degree at Korea University. His research interests include synthesis of tendon driven manipulator and robot motion control.

Joono Cheong received B.S., M.S. and Ph.D. from Pohang University of Science and Technology (POSTECH) in 1995, 1997 and 2003, respectively. In 2003, he had been a Researcher with the Institute of Precision Machine and Design, Seoul National University, Seoul. From 2003 to 2005, he was a Postdoctoral Researcher of the Research Laboratory of Electronics at Massachusetts Institute of Technology, Cambridge, MA. Since 2005, he has been with the Department of Control and Instrumentation Engineering, Korea University, Sejong, where he is currently a Professor. He is the Director of the Laboratory for Advanced Robotics at Korea University. His research interests are robotic manipulation, grasping, and mechanical systems control.

Mingun Kim received the B.S. degree in mechanical engineering from Korea University, Korea, in 1980, and the M.S. and Ph.D. degrees in mechanical engineering from the Keio University, Japan, in 1983 and 1986, respectively. Since 1986, he has been working as a Professor at the Department of Mechanical Engineering, Kangwon National University, Korea. His research interests are in the area of design of material strength, fatigue strengths on both the self-piercing rivet and dental implant.

Byung-Ju Yi received the B.S. degree from Hanyang University, Seoul, Korea, in 1984, and the M.S. and Ph.D. degrees from The University of Texas at Austin (UT), TX, USA, in 1986 and 1991, respectively, in mechanical engineering. He served as a Postdoctoral Fellow in the Robotics Group at UT and worked for the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Chungnam, Korea. Since 1995, He has been a Professor at the Department of Electronic Systems Engineering, Hanyang University, An-san, Korea. His research interests include robot mechanics with application to surgical robotic systems and ubiquitous sensor network-based robotics.

Wheekuk Kim received the B.S. degree in mechanical engineering from Korea University, Korea, in 1980, and the M.S. and Ph.D. degrees in mechanical engineering from the University of Texas at Austin, Austin, TX, USA, in 1985 and 1990, respectively. Since 1991, he has been working as a Professor at the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea. His research interests are in the area of design of parallel robots, synthesis on both the parallel mechanisms and cable-driven parallel mechanisms, and kinematic/dynamic modeling and analysis of parallel robots.

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Cho, Y., Cheong, J., Kim, M.G. et al. Efficient optimal force distribution method of the parallel mechanism with actuator redundancy based on geometric interpretation. J Mech Sci Technol 33, 2915–2928 (2019). https://doi.org/10.1007/s12206-019-0539-z

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  • DOI: https://doi.org/10.1007/s12206-019-0539-z

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