This work discusses the kinetostatic performances of a new reconfigurable parallel-serial hybrid manipulator with redundant actuators carrying a serial wrist with 3 degrees of freedom (dof). The parallel part can be easily reconfigured with a simple disassembly and reassembly procedure to obtain different configurations that can be classified in the following groups: 3 dof, 4 dof and 3 dof with redundant actuation. The paper focuses on the kinematics of the parallel structure solving the direct and the inverse kinematics, analyzing the singularities and evaluating some kinetostatic performance indices.
Performance analysis of a reconfigurable redundant parallel manipulator
VERTUAN, Angelo;LEGNANI, Giovanni;ADAMINI, Riccardo;TOSI, Diego;PEDROCCHI, NICOLA
2009-01-01
Abstract
This work discusses the kinetostatic performances of a new reconfigurable parallel-serial hybrid manipulator with redundant actuators carrying a serial wrist with 3 degrees of freedom (dof). The parallel part can be easily reconfigured with a simple disassembly and reassembly procedure to obtain different configurations that can be classified in the following groups: 3 dof, 4 dof and 3 dof with redundant actuation. The paper focuses on the kinematics of the parallel structure solving the direct and the inverse kinematics, analyzing the singularities and evaluating some kinetostatic performance indices.File in questo prodotto:
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