Actuation Torque Reduction in Parallel Robots Using Joint Compliance
نویسندگان
چکیده
منابع مشابه
Actuation Torque Reduction in Parallel Robots Using Joint Compliance
This work studies in detail how the judicial application of compliance in parallel manipulators can produce manipulators that require significantly lower actuator effort within a range of desired operating conditions. We propose a framework that uses the Jacobian matrices of redundant parallel manipulators to consider the influence of compliance both in parallel with the actuated joints as well...
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ژورنال
عنوان ژورنال: Journal of Mechanisms and Robotics
سال: 2014
ISSN: 1942-4302,1942-4310
DOI: 10.1115/1.4026628