Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
800140 | Mechanism and Machine Theory | 2007 | 16 Pages |
Abstract
The inverse dynamics of wire-actuated parallel manipulators with a constraining linkage and redundancy in actuation is investigated. To resolve the problem of having infinite solutions for inverse dynamics, a wire deactivation methodology based on Lagrangian equations is proposed and two approaches are developed to detect the counteracting wires. The methodology results in lower actuator forces/torques by reducing the counteracting wire tensions. The robustness of the methodology in avoiding negative wire tensions is verified in the inverse dynamic simulation of an example manipulator.
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Authors
Leila Notash, Amin Kamalzadeh,