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    Motion/Force Constrainability Analysis of Lower Mobility Parallel Manipulators

    Source: Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 003::page 31006
    Author:
    Liu, Xin
    ,
    Chen, Xiang
    ,
    Nahon, Meyer
    DOI: 10.1115/1.4026632
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: The constraint performance analysis in the limited kinetostatic subspace of parallel manipulators is a significant but ignored issue. The motion/force constrainability analysis, with focus on lowermobility parallel manipulators, is the subject of this study. Via the theory of screws, three generalized frameinvariant constraint indices are proposed based on the concept of the power coefficient. The introduced indices can not only identify the singularity and the fully constrained property but also measure the closeness between a particular pose and an unconstrained configuration (or fully constrained configuration). In order to demonstrate the feasibility and the validity of the analysis methods and indices, the detailed evaluation of two typical industrial parallel manipulators are presented, the Sprint Z3 head and the Tricept mechanism.
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      Motion/Force Constrainability Analysis of Lower Mobility Parallel Manipulators

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    http://yetl.yabesh.ir/yetl1/handle/yetl/155749
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    contributor authorLiu, Xin
    contributor authorChen, Xiang
    contributor authorNahon, Meyer
    date accessioned2017-05-09T01:10:52Z
    date available2017-05-09T01:10:52Z
    date issued2014
    identifier issn1942-4302
    identifier otherjmr_006_03_031006.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/155749
    description abstractThe constraint performance analysis in the limited kinetostatic subspace of parallel manipulators is a significant but ignored issue. The motion/force constrainability analysis, with focus on lowermobility parallel manipulators, is the subject of this study. Via the theory of screws, three generalized frameinvariant constraint indices are proposed based on the concept of the power coefficient. The introduced indices can not only identify the singularity and the fully constrained property but also measure the closeness between a particular pose and an unconstrained configuration (or fully constrained configuration). In order to demonstrate the feasibility and the validity of the analysis methods and indices, the detailed evaluation of two typical industrial parallel manipulators are presented, the Sprint Z3 head and the Tricept mechanism.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleMotion/Force Constrainability Analysis of Lower Mobility Parallel Manipulators
    typeJournal Paper
    journal volume6
    journal issue3
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4026632
    journal fristpage31006
    journal lastpage31006
    identifier eissn1942-4310
    treeJournal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian