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Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study

AuthorsGrosch, Patrick CSIC ORCID; Gregorio, Raffaele di; Thomas, Federico CSIC ORCID
Non-holonomic constraint
Underactuated manipulator
Parallel manipulator
Issue Date2009
PublisherAmerican Society of Mechanical Engineers
CitationProceedings of the ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference: 1-8 (2009)
AbstractIt 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.
DescriptionPresentado al IDETC/CIE celebrado en San Diego (USA) del 30 de agosto al 2 de septiembre de 2009.
Appears in Collections:(IRII) Libros y partes de libros

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