TY - GEN
T1 - Input/output force analysis of parallel link manipulators
AU - Kosuge, Kazuhiro
AU - Okuda, Minoru
AU - Kawamata, Hiroyuki
AU - Fukuda, Toshio
PY - 1993/1/1
Y1 - 1993/1/1
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0027286954&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0027286954&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0027286954
SN - 0818634529
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 714
EP - 719
BT - Proceedings - IEEE International Conference on Robotics and Automation
A2 - Anon, null
PB - Publ by IEEE
T2 - Proceedings of the IEEE International Conference on Robotics and Automation
Y2 - 2 May 1993 through 6 May 1993
ER -