Journal ArticleDOI
Force capabilities of redundantly-actuated parallel manipulators
TLDR
A methodology of using scaling factors to determine the force capabilities of non-redundantly and redundantly-actuated parallel manipulators is presented in this paper, which allows the actuator limits to be easily incorporated into the problem of determining force capabilities.About:
This article is published in Mechanism and Machine Theory.The article was published on 2005-05-01. It has received 210 citations till now. The article focuses on the topics: Actuator.read more
Citations
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Journal ArticleDOI
Dynamics and control of a planar 3-DOF parallel manipulator with actuation redundancy
TL;DR: In this paper, a planar 3-DOF parallel manipulator with actuation redundancy is considered and a position and force switching control strategy is proposed based on the dynamic model.
Journal ArticleDOI
Data-Driven Grasp Synthesis Using Shape Matching and Task-Based Pruning
Li Ying,J.L. Fu,Nancy S. Pollard +2 more
TL;DR: A novel shape matching algorithm is introduced that matches hand shape to object shape by identifying collections of features having similar relative placements and surface normals and returns many grasp candidates, which are clustered and pruned by choosing the grasp best suited for the intended task.
Journal ArticleDOI
3-PRRR redundant planar parallel manipulator: Inverse displacement, workspace and singularity analyses
TL;DR: In this paper, a kinematically redundant planar parallel manipulator is presented and the inverse displacement problem is examined, and the workspace of the proposed manipulator compared to that of a similar-sized non-redundant one.
Journal ArticleDOI
Design and analysis of a novel 6-DOF redundant actuated parallel robot with compliant hinges for high precision positioning
Yuan Yun,Yangmin Li +1 more
TL;DR: The investigations of this paper will provide suggestions to improve the structure and control algorithm optimization for a novel compliant dual redundant parallel mechanism in order to achieve the feature of larger workspace, higher motion precision and better dynamic characteristics.
Journal ArticleDOI
Study on the stiffness of a 5-DOF hybrid machine tool with actuation redundancy
TL;DR: In this article, the stiffness of a 5-DOF hybrid machine tool with actuation redundancy is analyzed and an accurate stiffness model of the machine tool is derived by using the assembly method.
References
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Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Journal ArticleDOI
Singularity analysis of closed-loop kinematic chains
Clément Gosselin,Jorge Angeles +1 more
TL;DR: The different kinds of singularities encountered in closed-loop kinematics chains are analyzed and a general classification of these singularities in three main groups, based on the properties of the Jacobian matrices of the chain, is described.
Journal ArticleDOI
The optimum kinematic design of a spherical three-degree-of-freedom parallel manipulator
Clément Gosselin,Jorge Angeles +1 more
TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.
Book
A Treatise on the Theory of Screws
TL;DR: The theory of screws in non-Euclidian space has been studied extensively in the literature, see as mentioned in this paper for an introduction to the theory of screw co-ordinates and a survey.