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Generalized Jacobian analysis of lower mobility manipulators

✍ Scribed by T. Huang; H.T. Liu; D.G. Chetwynd

Book ID: 104049281
Publisher: Elsevier Science
Year: 2011
Tongue: English
Weight: 775 KB
Volume: 46
Category: Article
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2011.01.009

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Lower mobility parallel manipulators are designed to perform tasks that require less than six degrees of freedom. The operational mode is given by the type of screw system spanned by the end-effector's twist and it is configuration dependent. A change in the dimension of such screw system occurs at