Force capabilities of redundantly-actuated parallel manipulators

DOI10.1016/J.MECHMACHTHEORY.2004.10.005MaRDI QIDQ1779756zbMATH OpenOpenAlexFDO

Authors Niranjan Chakravarthy

Publication date 1 June 2005

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2004.10.005

zbMATH Keywords

optimizationmaximum torque

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cited in

(14)

• Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy
• Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy
• Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator
• Generation and application of prestress in redundantly full-actuated parallel manipulators
• Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning
• Wrench capability analysis of redundantly actuated spatial parallel manipulators
• Force Transmissibility Performance of Parallel Manipulators
• A new family of constrained redundant parallel manipulators
• Simulation-based actuator selection for redundantly actuated robot mechanisms
• Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart-the 6-PSS parallel manipulator
• Kinematics/statics analysis of a novel 2S\(\underline {\text{P}}\)S + \(\underline {\text{PR}}\)R\(\underline {\text{P}}\)R parallel manipulator
• Kinetostatic analysis for compliant legged robots with ground contact forces evaluation
• Optimal configuration for dual-arm space robot grasping a tumbling target based on task compatibility
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories

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