Article ID Journal Published Year Pages File Type
800140 Mechanism and Machine Theory 2007 16 Pages PDF
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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Physical Sciences and Engineering Engineering Industrial and Manufacturing Engineering
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