کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
10420547 905100 2005 22 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Force capabilities of redundantly-actuated parallel manipulators
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
Force capabilities of redundantly-actuated parallel manipulators
چکیده انگلیسی
A methodology of using scaling factors to determine the force capabilities of non-redundantly and redundantly-actuated parallel manipulators is presented. This methodology allows the actuator limits to be easily incorporated into the problem of determining force capabilities of parallel manipulators. Analytical methods for determining the force capabilities of both non-redundantly and redundantly-actuated manipulators using scaling factors are derived. In addition, an optimization-based method for generating force capabilities is presented. The results show that using redundant actuation allows for a significant improvement in the force capabilities of parallel manipulators. The results also show that using the optimization-based solution makes better use of the maximum torque/force capabilities of the actuators when compared to the non-redundantly-actuated and the pseudo-inverse solutions.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 40, Issue 5, May 2005, Pages 578-599
نویسندگان
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