{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,4]],"date-time":"2025-07-04T05:14:49Z","timestamp":1751606089494},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"7","license":[{"start":{"date-parts":[[2014,1,15]],"date-time":"2014-01-15T00:00:00Z","timestamp":1389744000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2014,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Redundant actuation for the parallel kinematic machine (PKM) is a well-known technique for overcoming general drawbacks of the PKM by helping it to avoid singularity and enhance stiffness characteristics, among others. Torque distribution plays a critical role in redundant actuation because this actuation causes the PKM to consume too much energy or put a substantial amount of stress on joints and links. This paper proposes a new torque distribution method for reducing the maximum torque of the actuator of a planar PKM. Here the main idea behind the proposed method is the use of superposition of a particular solution for a non-redundant case and an optimized null-space solution for a redundant case with a constant coefficient. The optimal value of a null-space solution can be easily determined by checking only the intersection points of the profile of the actuator's torque as the coefficient varies. We consider three cases of planar PKMs\u20142-, 3-, and 4-RRR PKMs\u2014and present a detailed procedure for deriving a kinematic solution for the 2-RRR PKM based on Screw theory. We compare the proposed method with the minimum-norm pseudo-inverse method and assess a limitation of the proposed method. The torque distribution algorithm can be used to determine the number of actuators in an efficient manner and to reduce energy consumption.<\/jats:p>","DOI":"10.1017\/s0263574713001288","type":"journal-article","created":{"date-parts":[[2014,1,15]],"date-time":"2014-01-15T12:53:42Z","timestamp":1389790422000},"page":"1125-1134","source":"Crossref","is-referenced-by-count":11,"title":["Torque distribution optimization of redundantly actuated planar parallel mechanisms based on a null-space solution"],"prefix":"10.1017","volume":"32","author":[{"given":"Jung Hyun","family":"Choi","sequence":"first","affiliation":[]},{"given":"TaeWon","family":"Seo","sequence":"additional","affiliation":[]},{"given":"Jeh Won","family":"Lee","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2014,1,15]]},"reference":[{"key":"S0263574713001288_ref21","first-page":"73","volume-title":"Robot Dynamics and Control","author":"Spong","year":"2005"},{"key":"S0263574713001288_ref13","first-page":"549","volume-title":"Proceedings of the IEEE International Conference on Systems Engineering","author":"Maciejewski","year":"1989"},{"key":"S0263574713001288_ref7","doi-asserted-by":"crossref","unstructured":"S. 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Schumacher , \u201cA Parallel X-Y Manipulator with Actuation Redundancy for High-Speed and Active-Stiffness Applications,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Leuven, Belgium (1998) pp. 2295\u20132300.","DOI":"10.1109\/ROBOT.1998.680665"},{"key":"S0263574713001288_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2008.03.072"},{"key":"S0263574713001288_ref5","doi-asserted-by":"publisher","DOI":"10.1115\/1.1667902"},{"key":"S0263574713001288_ref8","doi-asserted-by":"publisher","DOI":"10.1163\/156855303322395226"},{"key":"S0263574713001288_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511530173"},{"key":"S0263574713001288_ref2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574711000774"},{"key":"S0263574713001288_ref9","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574712000562"},{"key":"S0263574713001288_ref4","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2012.2198224"},{"key":"S0263574713001288_ref16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2008.09.005"},{"key":"S0263574713001288_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2010.03.089"},{"key":"S0263574713001288_ref20","first-page":"73","volume-title":"Proceedings of the Joint Symposium of the Sister University of Mechanical University","author":"Choi","year":"2012"},{"key":"S0263574713001288_ref19","volume-title":"Introduction to Linear Algebra","author":"Strang","year":"2003"},{"key":"S0263574713001288_ref1","doi-asserted-by":"crossref","first-page":"616","DOI":"10.1109\/TMECH.2008.2011053","article-title":"Dual servo control of a high-tilt 3-DOF micro parallel positioning platform","volume":"14","author":"Seo","year":"2009","journal-title":"IEEE-ASME Trans. Mechatronics"},{"key":"S0263574713001288_ref12","first-page":"619","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Suh","year":"1987"},{"key":"S0263574713001288_ref11","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620080106"},{"key":"S0263574713001288_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.10.005"},{"key":"S0263574713001288_ref22","doi-asserted-by":"publisher","DOI":"10.1115\/1.2829426"},{"key":"S0263574713001288_ref17","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2010.04.012"},{"key":"S0263574713001288_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574709990828"},{"key":"S0263574713001288_ref10","unstructured":"S. Kim , Minimum Consumed Energy Optimized Trajectory Planning for Redundant Parallel Manipulator, Ph.D. Thesis (Seoul National University, 2010)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713001288","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,22]],"date-time":"2019-04-22T00:12:03Z","timestamp":1555891923000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713001288\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,1,15]]},"references-count":22,"journal-issue":{"issue":"7","published-print":{"date-parts":[[2014,10]]}},"alternative-id":["S0263574713001288"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713001288","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,1,15]]}}}