TY - GEN
T1 - Input/output force analysis of Stewart platform type of manipulators
AU - Kosuge, Kazuhiro
AU - Okuda, Minoru
AU - Fukuda, Toshio
AU - Koduka, Tsohiki
AU - Mizuno, Tomoo
PY - 1993/12/1
Y1 - 1993/12/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0027847971&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0027847971
SN - 0780308239
T3 - 1993 International Conference on Intelligent Robots and Systems
SP - 1666
EP - 1673
BT - 1993 International Conference on Intelligent Robots and Systems
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems
Y2 - 26 July 1993 through 30 July 1993
ER -