Publication
Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study
Conference Article
Conference
ASME International Design Engineering Technical Conference (IDETC)
Edition
2009
Pages
979-986
Doc link
http://dx.doi.org/10.1115/DETC2009-86408
File
Abstract
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.
Categories
industrial robots, manipulators, robot kinematics.
Author keywords
kinetostatics, non-holonomic constraint, underactuated manipulator, parallel manipulator
Scientific reference
P. Grosch, R. Di Gregorio and F. Thomas. Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study, 2009 ASME International Design Engineering Technical Conference, 2009, San Diego, pp. 979-986, ASME.
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