| contributor author | Arsenault, Marc | |
| contributor author | Boudreau, Roger | |
| contributor author | Nokleby, Scott | |
| date accessioned | 2022-02-06T05:43:10Z | |
| date available | 2022-02-06T05:43:10Z | |
| date copyright | 7/5/2021 12:00:00 AM | |
| date issued | 2021 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_13_6_061014.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4278612 | |
| description 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Computation of the Available Force Set of a 3-RPRR Kinematically Redundant Planar Parallel Manipulator | |
| type | Journal Paper | |
| journal volume | 13 | |
| journal issue | 6 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4051062 | |
| journal fristpage | 061014-1 | |
| journal lastpage | 061014-12 | |
| page | 12 | |
| tree | Journal of Mechanisms and Robotics:;2021:;volume( 013 ):;issue: 006 | |
| contenttype | Fulltext | |
