0
Review Article

Redundancy in Parallel Mechanisms: A Review

[+] Author and Article Information
Clement Gosselin

Professor, Fellow of ASME, Laboratoire de robotique de l’Université Laval, Département de génie mécanique, Université Laval, Québec, Québec, G1V 0A6, Canada
clement.gosselin@gmc.ulaval.ca

Louis-Thomas Schreiber

Ph.D. student, Laboratoire de robotique de l’Université Laval, Département de génie mécanique, Université Laval, Québec, Québec, G1V 0A6, Canada
louis-thomas.schreiber.1@ulaval.ca

1Corresponding author.

ASME doi:10.1115/1.4038931 History: Received September 15, 2016; Revised August 15, 2017

Abstract

This paper presents a review of the literature related to the use of redundancy in parallel mechanisms. Two types of redundancies are considered, namely actuation redundancy and kinematic redundancy. The use of these concepts in the literature is highlighted. Each of the concepts is then formulated mathematically in order to clearly expose their characteristics and their properties. Two sub-classes of kinematically redundant parallel mechanisms are defined, namely those with serial redundant legs and those with parallel redundant legs. The force transmission in redundant parallel mechanisms is then discussed. Finally, a summary of the different approaches that can be used to implement redundancy in parallel mechanisms is given in order to identify the most promising synthesis avenues and to provide insight into their potential fields of application.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In