Input/output force analysis of Stewart platform type of manipulators

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

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル1993 International Conference on Intelligent Robots and Systems
編集者 Anon
出版社Publ by IEEE
ページ1666-1673
ページ数8
ISBN(印刷版)0780308239
出版ステータスPublished - 1993 12月 1
外部発表はい
イベントProceedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Jpn
継続期間: 1993 7月 261993 7月 30

出版物シリーズ

名前1993 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

  • 工学(全般)

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