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Título: | Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study |
Autor: | Grosch, Patrick CSIC ORCID; Gregorio, Raffaele di; Thomas, Federico CSIC ORCID | Palabras clave: | Kinetostatics Non-holonomic constraint Underactuated manipulator Parallel manipulator |
Fecha de publicación: | 2009 | Editor: | American Society of Mechanical Engineers | Citación: | Proceedings of the ASME International Design Engineering Technical Conference and Computers and Information in Engineering Conference: 1-8 (2009) | Resumen: | 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. | Descripción: | Presentado al IDETC/CIE celebrado en San Diego (USA) del 30 de agosto al 2 de septiembre de 2009. | URI: | http://hdl.handle.net/10261/30128 | ISBN: | 978-0-7918-4904-0 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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Generation of under-actuated.pdf | 215,2 kB | Adobe PDF | Visualizar/Abrir |
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