Study of the antagonistic stiffness of parallel manipulators with actuation redundancy

DOI10.1016/j.mechmachtheory.2003.12.001zbMath1143.70307OpenAlexW2015605193MaRDI QIDQ1875941

Dimitar Chakarov

Publication date: 3 September 2004

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

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2003.12.001

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

Related Items (9)

Robust sliding mode control of redundantly actuated parallel mechanisms with respect to geometric imperfections ⋮ A new decoupling method for explicit stiffness analysis of kinematically redundant planar parallel kinematic mechanism ⋮ Static stability of manipulator configuration: influence of the external loading ⋮ Problems in the control of redundantly actuated parallel manipulators caused by geometric imperfections ⋮ Enhanced stiffness modeling of manipulators with passive joints ⋮ Elasto-geometrical modeling and calibration of redundantly actuated PKMs ⋮ Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy ⋮ Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy ⋮ Antagonistic variable stiffness elements

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