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    Computation of the Available Force Set of a 3-RPRR Kinematically Redundant Planar Parallel Manipulator

    Source: Journal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 006::page 061014-1
    Author:
    Arsenault, Marc
    ,
    Boudreau, Roger
    ,
    Nokleby, Scott
    DOI: 10.1115/1.4051062
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: An algorithm is developed to determine the available force set (AFS) of the 3-RPRR kinematically redundant planar parallel manipulator. The results of the algorithm are verified against a brute force approach and are found to yield exact results with significantly less computational time. The use of the AFS in a robot design context is illustrated through the analysis of two performance indices: the maximum pure force capable of being applied in any direction and the maximum pure force capable of being applied in a given direction. The algorithm is used to compute the AFS and the performance indices throughout the 3-RPRR robot’s workspace. The proposed methodology is a useful tool for the design and analysis of the 3-RPRR robot and could be adapted to other kinematically redundant planar parallel manipulators.
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      Computation of the Available Force Set of a 3-RPRR Kinematically Redundant Planar Parallel Manipulator

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    http://yetl.yabesh.ir/yetl1/handle/yetl/4278612
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    contributor authorArsenault, Marc
    contributor authorBoudreau, Roger
    contributor authorNokleby, Scott
    date accessioned2022-02-06T05:43:10Z
    date available2022-02-06T05:43:10Z
    date copyright7/5/2021 12:00:00 AM
    date issued2021
    identifier issn1942-4302
    identifier otherjmr_13_6_061014.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4278612
    description abstractAn algorithm is developed to determine the available force set (AFS) of the 3-RPRR kinematically redundant planar parallel manipulator. The results of the algorithm are verified against a brute force approach and are found to yield exact results with significantly less computational time. The use of the AFS in a robot design context is illustrated through the analysis of two performance indices: the maximum pure force capable of being applied in any direction and the maximum pure force capable of being applied in a given direction. The algorithm is used to compute the AFS and the performance indices throughout the 3-RPRR robot’s workspace. The proposed methodology is a useful tool for the design and analysis of the 3-RPRR robot and could be adapted to other kinematically redundant planar parallel manipulators.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleComputation of the Available Force Set of a 3-RPRR Kinematically Redundant Planar Parallel Manipulator
    typeJournal Paper
    journal volume13
    journal issue6
    journal titleJournal of Mechanisms and Robotics
    identifier doi10.1115/1.4051062
    journal fristpage061014-1
    journal lastpage061014-12
    page12
    treeJournal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 006
    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