Motion Transmissibility of In-Parallel Actuated Manipulators
نویسندگان
چکیده
منابع مشابه
Force/Motion/Stiffness Transmissibility Analyses of Redundantly Actuated and Overconstrained Parallel Manipulators
Drawing mainly on linear algebra and screw theory, this paper presents a general and systematic approach for force/motion/stiffness transmissibility analyses of redundantly actuated and overconstrained parallel manipulators. A set of normalized transmission indices is proposed for representing the closeness to singularities as well as for dimensional optimization of the redundantly actuated and...
متن کاملPerformance Evaluation of Redundant Parallel Manipulators Assimilating Motion/Force Transmissibility
Performance evaluation is one of the most important issues in the field of parallel kinematic manipulators (PKMs). As a very important class of PKMs, the redundant PKMs have been studied intensively. However, the performance evaluation of this type of PKMs is still unresolved and a challenging endeavor. In this paper, indices that assimilate motion/force trans...
متن کاملForce Transmissibility Performance of Parallel Manipulators
In this paper, a new force transmission index called the mean force transmission index (MFTI) is proposed, and the force transmissibility analysis procedure is established for parallel manipulators. The MFTI is an extended definition of the force transmission index (FTI) introduced by the authors previously. It is shown that the FTI is a function of the input velocity ratio (IVR) for a multi-DO...
متن کاملRedundancy Resolution of Wire-actuated Parallel Manipulators
Redundant manipulators have potential advantages of using their degree(s) of redundancy to satisfy additional task(s). To achieve desirable performance criteria, various optimization techniques can be applied to redundant manipulators. In the work presented, the redundancy resolution of planar wire-actuated parallel manipulators is investigated at the kinematic and dynamic levels in order to pe...
متن کاملTrajectory Optimization of Cable Parallel Manipulators in Point-to-Point Motion
Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
سال: 1995
ISSN: 1340-8062
DOI: 10.1299/jsmec1993.38.749