کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10419934 904481 2005 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Inverse dynamics of parallel manipulators in the presence of drive singularities
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Inverse dynamics of parallel manipulators in the presence of drive singularities
چکیده انگلیسی
At drive singularities of parallel manipulators the actuators lose control of the end-effector in certain directions. It is shown that if certain conditions related to the consistency of the dynamic equations are satisfied by a proper design of the trajectory, the manipulator can pass through the singular positions while the actuator forces and the system motion remain stable. To find the values of the actuator forces in the neighborhood of the drive singularities, the dynamic equations are modified by using higher order derivative information.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 40, Issue 1, January 2005, Pages 33-44
نویسندگان
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