| contributor author | Jody A. Saglia | |
| contributor author | Darwin G. Caldwell | |
| contributor author | Jian S. Dai | |
| date accessioned | 2017-05-09T00:29:32Z | |
| date available | 2017-05-09T00:29:32Z | |
| date copyright | December, 2008 | |
| date issued | 2008 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27888#124501_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/138803 | |
| description abstract | This paper investigates the behavior of a type of parallel mechanisms with a central strut. The mechanism is of lower mobility, redundantly actuated, and used for sprained ankle rehabilitation. Singularity and dexterity are investigated for this type of parallel mechanisms based on the Jacobian matrix in terms of rank deficiency and condition number, throughout the workspace. The nonredundant cases with three and two limbs are compared with the redundantly actuated case with three limbs. The analysis demonstrates the advantage of introducing the actuation redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity | |
| type | Journal Paper | |
| journal volume | 130 | |
| journal issue | 12 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2988472 | |
| journal fristpage | 124501 | |
| identifier eissn | 1528-9001 | |
| tree | Journal of Mechanical Design:;2008:;volume( 130 ):;issue: 012 | |
| contenttype | Fulltext | |
