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 | |
| Publication status | Published - 2001 Aug 1 |
Fingerprint
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
Cite this
}
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 journal › Article
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 -