Forward/inverse force transmission capability analyses of fully parallel manipulators

Han S. Kim, Yong J. Choi

Research output: Contribution to journalArticle

21 Citations (Scopus)

Abstract

This paper 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.

Original languageEnglish
Pages (from-to)526-531
Number of pages6
JournalIEEE Transactions on Robotics and Automation
Volume17
Issue number4
DOIs
Publication statusPublished - 2001 Aug 1

Fingerprint

Manipulators
Actuators

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

@article{a645d85183604195819bdd4082a2846c,
title = "Forward/inverse force transmission capability analyses of fully parallel manipulators",
abstract = "This paper 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.",
author = "Kim, {Han S.} and Choi, {Yong J.}",
year = "2001",
month = "8",
day = "1",
doi = "10.1109/70.954767",
language = "English",
volume = "17",
pages = "526--531",
journal = "IEEE Transactions on Robotics and Automation",
issn = "1042-296X",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

Forward/inverse force transmission capability analyses of fully parallel manipulators. / Kim, Han S.; Choi, Yong J.

In: IEEE Transactions on Robotics and Automation, Vol. 17, No. 4, 01.08.2001, p. 526-531.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Forward/inverse force transmission capability analyses of fully parallel manipulators

AU - Kim, Han S.

AU - Choi, Yong J.

PY - 2001/8/1

Y1 - 2001/8/1

N2 - This paper 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.

AB - This paper 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.

UR - http://www.scopus.com/inward/record.url?scp=0035428335&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035428335&partnerID=8YFLogxK

U2 - 10.1109/70.954767

DO - 10.1109/70.954767

M3 - Article

VL - 17

SP - 526

EP - 531

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

SN - 1042-296X

IS - 4

ER -