Generation of Under-actuated Parallel Robots with Non-holonomic Joints and Kinetostatic Analysis of a Case Study
نویسندگان
چکیده
It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair substitution, an under-actuated manipulator, previously proposed by one of the authors, will be demonstrated to be generated from an inversion of the 6-3 FPM. Moreover, the kinetostatic analysis of this manipulator will be reconsidered to obtain a simple and compact formulation. This reformulated analysis can be used both in the design of the underactuated manipulator, and in its control.
منابع مشابه
Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
This paper shows how to generate underactuated manipulators by substituting nonholonomic spherical pairs for (holonomic) spherical pairs in ordinary (i.e. not underactuated) manipulators. As a case study, an underactuated manipulator, previously proposed by one of the authors, is demonstrated to be generated, through this pair substitution from an inversion of the 6-3 fully parallel manipulator...
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