Title :
Forward/inverse force transmission capability analyses of fully parallel manipulators
Author :
Kim, Han S. ; Choi, Yong J.
Author_Institution :
Dept. of Mech. Eng., California Univ., Riverside, CA, USA
fDate :
8/1/2001 12:00:00 AM
Abstract :
Presents the analytical methods to evaluate the forward/inverse force transmission capabilities of fully parallel manipulators. Two eigenvalue problems corresponding to the forward and inverse force transmission analyses are formulated. In view of the forward force transmission analysis, the conditions of the maximum isotropic force and moment transmissions are investigated for both planar and spatial parallel manipulators. Finally, numerical examples of the forward and inverse force transmission analyses are presented and the numerical algorithm of selecting actuator forces in the whole reachable workspace is suggested
Keywords :
Jacobian matrices; eigenvalues and eigenfunctions; geometry; manipulators; actuator forces selection; eigenvalue problems; forward/inverse force transmission capability analyses; fully parallel manipulators; maximum isotropic force transmissions; moment transmissions; planar manipulators; reachable workspace; spatial manipulators; Actuators; Algorithm design and analysis; Design methodology; Eigenvalues and eigenfunctions; Ellipsoids; Forward contracts; Jacobian matrices; Manipulators; Mechanical engineering; Vectors;
Journal_Title :
Robotics and Automation, IEEE Transactions on
