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<p>Among the advantages of redundantly actuated mechanisms, one can mention the higher operational robustness, the feasibility of reduced power actuators and the load capacity increase in the mechanism. Focusing on such category of mechanism, the current work proposes a process for modeling and selecting the available actuation modes in accordance with adequate dynamic criteria. Here the modular modeling methodology is employed to formulate the dynamic equations for closed-loop redundantly actuated mechanisms of any topology that can operate even in the 2D- or 3D-spaces. Additionally, this general development is applied to generate dynamic models of the parallel mechanism <InlineEquation ID="IEq1"> <InlineMediaObject> <ImageObject Color="BlackWhite" FileRef="40430_2025_5671_Article_IEq1.gif" Format="GIF" Height="15" Rendition="HTML" Resolution="72" Type="Linedraw" Width="97" /> </InlineMediaObject> <EquationSource Format="TEX">\(2RRR + RR\)</EquationSource> <EquationSource Format="MATHML"><math> <mrow> <mn>2</mn> <mi>R</mi> <mi>R</mi> <mi>R</mi> <mo>+</mo> <mi>R</mi> <mi>R</mi> </mrow> </math></EquationSource> </InlineEquation> in the task space. Additionally, some simulations are conducted in order to compare the performance of the parallel mechanism when operating under distinct actuation modes, either keeping or switching between actuation modes during the motion cycle. The chosen metrics are the actuator torques and energy consumption. Moreover, other simulations aim to evaluate the capability of the actuated mechanism to overcome type-II singularities. Finally, this investigation also assesses the suitability of actuation mode indices for the motion planning of the parallel mechanism, which can be useful for control purposes.</p>

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Modular modeling of parallel mechanisms with actuation redundancy

  • 期刊论文

  • 发表日期：

    2025年6月16日

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  • Decio de M. Rinaldi,
  • Tarcisio A. Hess-Coelho

摘要

Among the advantages of redundantly actuated mechanisms, one can mention the higher operational robustness, the feasibility of reduced power actuators and the load capacity increase in the mechanism. Focusing on such category of mechanism, the current work proposes a process for modeling and selecting the available actuation modes in accordance with adequate dynamic criteria. Here the modular modeling methodology is employed to formulate the dynamic equations for closed-loop redundantly actuated mechanisms of any topology that can operate even in the 2D- or 3D-spaces. Additionally, this general development is applied to generate dynamic models of the parallel mechanism \(2RRR + RR\) 2 R R R + R R in the task space. Additionally, some simulations are conducted in order to compare the performance of the parallel mechanism when operating under distinct actuation modes, either keeping or switching between actuation modes during the motion cycle. The chosen metrics are the actuator torques and energy consumption. Moreover, other simulations aim to evaluate the capability of the actuated mechanism to overcome type-II singularities. Finally, this investigation also assesses the suitability of actuation mode indices for the motion planning of the parallel mechanism, which can be useful for control purposes.