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

Download the digital copy of the doc pdf document

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.