Input/output force analysis of Stewart platform type of manipulators

Kazuhiro Kosuge, Minoru Okuda, Toshio Fukuda, Tsohiki Koduka, Tomoo Mizuno

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

7 Citations (Scopus)

Abstract

This paper proposes a method to evaluate kinematic structures of a Stewart Platform type of manipulators based on the relationship between actuator forces and output forces moments of the mechanisms. As is well known, the manipulator Jacobian relates actuator forces to output forces-moments. 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.

Original languageEnglish
Title of host publication1993 International Conference on Intelligent Robots and Systems
Editors Anon
PublisherPubl by IEEE
Pages1666-1673
Number of pages8
ISBN (Print)0780308239
Publication statusPublished - 1993 Dec 1
Externally publishedYes
EventProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
Duration: 1993 Jul 261993 Jul 30

Publication series

Name1993 International Conference on Intelligent Robots and Systems

Other

OtherProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
CityYokohama, Jpn
Period93/7/2693/7/30

ASJC Scopus subject areas

  • Engineering(all)

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