Force-Moment Capabilities of Redundantly-Actuated Planar-Parallel Architectures
نویسندگان
چکیده
The force-moment capabilities of redundantlyactuated planar-parallel manipulator (PPM) architectures are investigated. A previously developed explicit methodology for generating the force-moment capabilities of redundantly-actuated PPMs is used on three different architectures. The results for the 3-RRR, 3-RPR, 3-PRR layouts, where the underline denotes the actuated joints, are presented and discussed.
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