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Workspace analysis of the 4RRR planar parallel manipulator with actuation redundancy

✍ Scribed by Xu, Boqiang; Li, Tiemin; Liu, Xinjun; Wu, Jun


Book ID
118606918
Publisher
Bioline International
Year
2010
Tongue
English
Weight
865 KB
Volume
15
Category
Article
ISSN
1007-0214

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Study of the antagonistic stiffness of p
✍ 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