This work discusses the kinetostatic performances f a new reconfigurable parallel-serial hybrid manipulator with edundant actuators carrying a serial wrist with 3 degrees of freedom (dof) The parallel part can be easily reconfigured with simple disassembly and reassembly procedure to obtain different onfigurations that can be classified in the following groups: 3 dof, dof and 3 dof with redundant actuation. The paper focuses on he kinematics of the parallel structure solving the direct and the verse kinematics, analyzing the singularities and evaluating some inetostatic performance indices.
Performance analysis of a reconfigurable redundant parallel manipulator
Pedrocchi Nicola
2009
Abstract
This work discusses the kinetostatic performances f a new reconfigurable parallel-serial hybrid manipulator with edundant actuators carrying a serial wrist with 3 degrees of freedom (dof) The parallel part can be easily reconfigured with simple disassembly and reassembly procedure to obtain different onfigurations that can be classified in the following groups: 3 dof, dof and 3 dof with redundant actuation. The paper focuses on he kinematics of the parallel structure solving the direct and the verse kinematics, analyzing the singularities and evaluating some inetostatic performance indices.File in questo prodotto:
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