Wrench capabilities of planar parallel manipulators. Part II: Redundancy and wrench workspace analysis

This part of the paper investigates the wrench capabilities of redundantly actuated planar parallel manipulators (PPMs). The wrench capabilities of PPMs are determined by mapping a hypercube from the torque space into a polytope in the wrench space. For redundant PPMs, one actuator output capability...

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Bibliographische Detailangaben

Veröffentlicht in:	Robotica 2008-11, Vol.26 (6), p.803-815
Hauptverfasser:	Firmani, Flavio, Zibil, Alp, Nokleby, Scott B., Podhorodeski, Ron P.
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Actuators force/moment capabilities force/moment workspace analysis Manipulators planar parallel manipulators Platforms Polytopes redundancy Redundant Robot arms Wrenches
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