TY - GEN
T1 - Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation
AU - Li, Cheng
AU - Wu, Yuanqing
AU - Wu, Jiachun
AU - Shi, Weiyi
AU - Dai, Dan
AU - Shi, Jinbo
AU - Li, Zexiang
PY - 2013
Y1 - 2013
N2 - In this paper, we present an experimental evaluation of the Cartesian stiffness of a novel parallel wrist under redundant and antagonistic actuation. The mechanism in consideration is Omni-Wrist V (OW5), a two degrees-of-freedom (DoF) parallel mechanism redundantly actuated by three subchains. We first give a brief review of its kineto-statics and derive its reduced Cartesian stiffness model. To illustrate the stiffness enhancement of OW5 under redundant and antagonistic actuation, its Cartesian stiffness is measured and evaluated under four control schemes: the non-redundant control, the minimum 2-norm torque control without or with redundant encoder, and the antagonistic actuation control. Measurement data are represented using stiffness matrices and stiffness ellipses. Our study offers a quick quantitative evaluation of stiffness enhancement of OW5 under redundant and antagonistic actuation.
AB - In this paper, we present an experimental evaluation of the Cartesian stiffness of a novel parallel wrist under redundant and antagonistic actuation. The mechanism in consideration is Omni-Wrist V (OW5), a two degrees-of-freedom (DoF) parallel mechanism redundantly actuated by three subchains. We first give a brief review of its kineto-statics and derive its reduced Cartesian stiffness model. To illustrate the stiffness enhancement of OW5 under redundant and antagonistic actuation, its Cartesian stiffness is measured and evaluated under four control schemes: the non-redundant control, the minimum 2-norm torque control without or with redundant encoder, and the antagonistic actuation control. Measurement data are represented using stiffness matrices and stiffness ellipses. Our study offers a quick quantitative evaluation of stiffness enhancement of OW5 under redundant and antagonistic actuation.
UR - https://openalex.org/W1984433700
UR - https://www.scopus.com/pages/publications/84893758120
U2 - 10.1109/IROS.2013.6696466
DO - 10.1109/IROS.2013.6696466
M3 - Conference Paper published in a book
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 959
EP - 964
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -