Presentado al IDETC/CIE celebrado en San Diego (USA) del 30 de agosto al 2 de septiembre de 2009. ; 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. ; This work was supported by the project 'Analysis and motion planning of complex robotic systems' (4802). This work has been partially supported by the Spanish Ministry of Education and Science, under the I+D project DPI2007-60858, and by Italian MIUR funds. ; Peer Reviewed
Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study
2009-01-01
Conference paper
Electronic Resource
English
DDC: | 629 |
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