Publication
Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators
Journal Article (2010)
Journal
Journal of Mechanisms and Robotics
Pages
11005-11012
Volume
2
Number
1
Doc link
http://dx.doi.org/10.1115/1.4000527
File
Abstract
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.
Categories
industrial robots, robot dynamics, robot kinematics, robots.
Scientific reference
P. Grosch, R. Di Gregorio and F. Thomas. Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators. Journal of Mechanisms and Robotics, 2(1): 11005-11012, 2010.
Follow us!