Analysis of Internal Force Effect in Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
Force Transmissibility Performance of Parallel Manipulators
In this paper, a new force transmission index called the mean force transmission index (MFTI) is proposed, and the force transmissibility analysis procedure is established for parallel manipulators. The MFTI is an extended definition of the force transmission index (FTI) introduced by the authors previously. It is shown that the FTI is a function of the input velocity ratio (IVR) for a multi-DO...
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15 صفحه اولInternal Force-Based Impedance Control for Cooperating Manipulators
An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the con...
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15 صفحه اولForce Capabilities of Kinematically Redundant Planar Parallel Manipulators
A methodology to evaluate force capabilities of planar parallel manipulators is presented in this paper. Different from previous approach, kinematic redundancies are handled and proper used to improve force capabilities. Add to actuators wrench parameters normally present in a force optimization problem, kinematic redundancy introduces geometric parameters to be optimized, producing non-linear ...
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ژورنال
عنوان ژورنال: Transactions of the Society of Instrument and Control Engineers
سال: 1991
ISSN: 0453-4654
DOI: 10.9746/sicetr1965.27.1266