Abstract
Modeling, control and sensing methods of a redundantly actuated 3-DOF planar parallel robot are discussed in this paper. This mechanism offers a wide range of motion in addition to the existing characteristics that parallel mechanisms provide, namely, rigid mechanisms, high precision, and high speed. The notable link arrangement of the mechanism makes it easy to derive the forward kinematics, which have been difficult to derive the conventional parallel mechanisms. Firstly, kinetostatics and dynamics of the proposed mechanism are derived. Then, impedance control, internal and external forces measurement, and mode change of the robot are proposed. Effectiveness of each application is confirmed by experimental results with specially designed prototyping.
