Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

TL;DR

This paper investigates a novel planar parallel mechanism with variable actuation, focusing on its kinetostatic performance and proposing a method to improve performance by selecting actuated joints based on end-effector pose.

Contribution

It introduces a new mechanism architecture and compares different actuation modes to enhance kinetostatic performance without relying solely on actuation redundancy.

Findings

Mechanism architecture and performance indices are defined.

Actuating modes are compared to optimize performance.

Selecting actuated joints based on pose improves kinetostatic behavior.

Abstract

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is to select the actuated joint in each limb with regard to the pose of the end-effector. First, the architecture of the mechanism and two kinetostatic performance indices are described. Then, the actuating modes of the mechanism are compared.