2024-03-28T17:43:19Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/301282019-06-11T06:39:14Zcom_10261_106com_10261_4col_10261_1241
Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study
Grosch, Patrick
Gregorio, Raffaele di
Thomas, Federico
Kinetostatics
Non-holonomic constraint
Underactuated manipulator
Parallel manipulator
Presentado al IDETC/CIE celebrado en San Diego (USA) del 30 de agosto al 2 de septiembre de 2009.
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.
2010-12-16T08:43:39Z
2010-12-16T08:43:39Z
2009
comunicaciĆ³n de congreso
Proceedings of the ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference: 1-8 (2009)
978-0-7918-4904-0
http://hdl.handle.net/10261/30128
eng
Publisher's version
openAccess
American Society of Mechanical Engineers