Generation and application of prestress in redundantly full-actuated parallel manipulators (Q2458269)

The paper deals with the inverse dynamics of parallel kinematic machines (PKMs) which can give some advantages, in comparison with conventional serial manipulators. The reasons of redundant actuation use for such a PKM and its concept are subjected. The main part of the paper is devoted to formulate the inverse dynamics solution which aims the construction of the generalized control forces that produce a desired trajectory. The special case of simply-redundant actuation is considered. Also, the nonlinear PKM-control problem which uses the inverse dynamics solution, is discussed. Two possible prestress applications, namely backlash avoiding and stiffness control, are presented. The examples of the planar manipulator with four identical limbs and heptapod manipulator are given.