Input/output force analysis of parallel link manipulators

Kazuhiro Kosuge, Minoru Okuda, Hiroyuki Kawamata, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingConference contribution

27 Citations (Scopus)

Abstract

The paper proposes a method to evaluate kinematic structures of parallel link manipulators based on the relation between actuator forces/moments and output forces/moments of the mechanisms. As is well known, actuator forces/moments by a manipulator Jacobian. The input/output force analysis proposed so far have been based on the manipulator Jacobian, in which forces and moments are dealt with together. However, it is not natural to deal with both force and moment together, since the force and the moment have different dimensions. In this paper, we analyze manipulators by dealing with the output forces and the output moments independently.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Editors Anon
PublisherPubl by IEEE
Pages714-719
Number of pages6
ISBN (Print)0818634529
Publication statusPublished - 1993 Jan 1
Externally publishedYes
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: 1993 May 21993 May 6

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period93/5/293/5/6

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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