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Static force analysis of a three-cylindric robot using the theory of screws

โœ Scribed by Gordon R. Pennock; Bilal Arif Oncu

Publisher
Elsevier Science
Year
1992
Tongue
English
Weight
614 KB
Volume
9
Category
Article
ISSN
0921-8890

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This investigation deals with the optimization of the kinematic parameters of a parallel robot structure, with respect to a given instantaneous twist deformation (ITD) of the moving platform. Drawing principally upon tools from screw theory, a parametric objective function is derived which quantifie