Force redundancy in parallel manipulators: theoretical and practical issues.

DOI10.1016/S0094-114X(97)00094-3MaRDI QIDQ1301005zbMATHOpenAlexWikidataFDO

Authors T. S. Mruthyunjaya, Bhaskar Dasgupta

Publication date 7 September 1999

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

Full work available at URL https://doi.org/10.1016/s0094-114x(97)00094-3

zbMATH Keywords

RedundancyDynamicsEfficiencyNumerical analysisKinematicsManipulatorsForce redundancyLoads (forces)

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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• Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy
• Force-unconstrained poses for a redundantly-actuated planar parallel manipulator
• Multi-criteria optimization of a hexapod machine
• Flexibility Optimization of a Hexapod Machine Tool
• Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
• Uncertainty configurations of parallel manipulators.
• Dynamic performance comparison of the 8PSS redundant parallel manipulator and its non-redundant counterpart-the 6PSS parallel manipulator
• Singularity and controllability analysis of parallel manipulators and closed-loop mechanisms.
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• Piecewise overactuation of parallel mechanisms following singular trajectories: Modeling, simulation and control
• Generation and application of prestress in redundantly full-actuated parallel manipulators
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• Determination of particular singular configurations of Stewart platform type of fixator by the stereographic projection method
• Wrench capability analysis of redundantly actuated spatial parallel manipulators
• Force Transmissibility Performance of Parallel Manipulators
• A new family of constrained redundant parallel manipulators
• Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections
• Elastodynamic characteristics comparison of the 8-PSS redundant parallel manipulator and its non-redundant counterpart-the 6-PSS parallel manipulator
• A renormalization group approach to a Yang-Mills two matrix model
• Statically redundant parallel robots
• Force capabilities of redundantly-actuated parallel manipulators
• Determination of the kinematically redundant active prismatic joint variable ranges of a planar parallel mechanism for singularity-free trajectories
• The weighted Moore-Penrose generalized inverse and the force analysis of overconstrained parallel mechanisms
• Study of the antagonistic stiffness of parallel manipulators with actuation redundancy

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