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
Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators
2010-02-01
1942-4310
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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