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Identification of dynamic and friction parameters of a parallel manipulator with actuation redundancy

✍ Scribed by Weiwei Shang; Shuang Cong; Fanrang Kong

Book ID
108206360
Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
780 KB
Volume
20
Category
Article
ISSN
0957-4158

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πŸ“œ SIMILAR VOLUMES

Study of the antagonistic stiffness of p
Study of the antagonistic stiffness of parallel manipulators with actuation redundancy
✍ Dimitar Chakarov πŸ“‚ Article πŸ“… 2004 πŸ› Elsevier Science 🌐 English βš– 399 KB

In this paper parallel manipulators, consisting of a basic antropomorph kinematic chain and parallel chains with redundant in number linear actuators are investigated. Antagonistic stiffness, as a result of the actuation redundancy is also studied. A kinematic model of parallel manipulators and a st