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Manipulability and Static Stability of Parallel Manipulators

✍ Scribed by A. Müller

Book ID: 110410172
Publisher: Springer
Year: 2003
Tongue: English
Weight: 314 KB
Volume: 9
Category: Article
ISSN: 1384-5640
DOI: 10.1023/a:1021675929665

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The stiffness of cable-based robots is studied in this paper. Since antagonistic forces are essential for the operation of cable-based manipulators, their effects on the stiffness should be considered in the design, control, and trajectory planning of these manipulators. This paper studies this issu