Velocity and force analysis of a kinematically redundant planar parallel structure mechanism with the integrated gripper

The paper considers a planar kinematically redundant mechanism with the PRR kinematic chains. The mechanism is capable of displacing the output link in a plane, and has additional controlled mobility in the form of alteration in its length, which could be used to grip objects without the need for additional drives installed on the output link. The paper provides results of the mechanism velocity and force analysis conducted using the Jacobian matrix assuming maximization of the velocities and forces for given values of the output link velocity and external load, respectively. The paper proposes a method for determining the maximum achievable force on a gripper for the given drive force characteristics.
EDN: NSUIKJ, https://elibrary/nsuikj

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