9 páginas, 8 figuras. ; This paper shows how to generate underactuated manipulators by substituting nonholonomic spherical pairs for (holonomic) spherical pairs in ordinary (i.e. not underactuated) manipulators. As a case study, an underactuated manipulator, previously proposed by one of the authors, is demonstrated to be generated, through this pair substitution from an inversion of the 6-3 fully parallel manipulator. Moreover, the kinetostatic analysis of this underactuated manipulator is reconsidered, and a simple and compact formulation is obtained. The results of this kinetostatic analysis can be used both in the design of the underactuated manipulator and in its control. ; This work has been partially supported by the Spanish Ministry of Education and Science, under the I+D project DPI2007-60858, and by Italian MIUR funds. ; Peer reviewed


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators


    Beteiligte:

    Erscheinungsdatum :

    2010-02-01


    Anmerkungen:

    1942-4310



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators

    Grosch Obregon, Patrick John / Gregorio, Raffaele di / Thomas, Federico | BASE | 2010

    Freier Zugriff

    Workspaces of Cable-Actuated Parallel Manipulators

    Stump, Ethan | Online Contents | 2006


    Effects of inverse dynamics compensation for nonholonomic mobile manipulators

    Minami, M. / Asakura, T. / Fujiwara, N. et al. | British Library Online Contents | 1997