Forward/inverse force transmission capability analyses of fully parallel manipulators

Han S. Kim; Yong J. Choi

doi:10.1109/70.954767

Forward/inverse force transmission capability analyses of fully parallel manipulators

Han S. Kim, Yong J. Choi

Department of Mechanical Engineering

Research output: Contribution to journal › Article

22 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 language	English
Pages (from-to)	526-531
Number of pages	6
Journal	IEEE Transactions on Robotics and Automation
Volume	17
Issue number	4
DOIs	https://doi.org/10.1109/70.954767
Publication status	Published - 2001 Aug 1

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/70.954767

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Kim, H. S., & Choi, Y. J. (2001). Forward/inverse force transmission capability analyses of fully parallel manipulators. IEEE Transactions on Robotics and Automation, 17(4), 526-531. https://doi.org/10.1109/70.954767

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