| contributor author | Liu, Xin | |
| contributor author | Chen, Xiang | |
| contributor author | Nahon, Meyer | |
| date accessioned | 2017-05-09T01:10:52Z | |
| date available | 2017-05-09T01:10:52Z | |
| date issued | 2014 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_006_03_031006.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/155749 | |
| description 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Motion/Force Constrainability Analysis of Lower Mobility Parallel Manipulators | |
| type | Journal Paper | |
| journal volume | 6 | |
| journal issue | 3 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4026632 | |
| journal fristpage | 31006 | |
| journal lastpage | 31006 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2014:;volume( 006 ):;issue: 003 | |
| contenttype | Fulltext | |
