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
โฆ LIBER โฆ
Optimum design of 2-DOF parallel manipulators with actuation redundancy
โ Scribed by Zhuangsheng Zhu; Runliang Dou
- Publisher
- Elsevier Science
- Year
- 2009
- Tongue
- English
- Weight
- 539 KB
- Volume
- 19
- Category
- Article
- ISSN
- 0957-4158
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This paper presents the prototype of the 6-dof parallel seismic simulator developed by Shanghai Jiao Tong University. Inverse kinematics analysis is carried out by the simulation. In the prototype building, the novel redundant actuation is adopted. The contribution of the novel redundantly actuated