Workspace Analysis of the 4RRR Planar Parallel Manipulator with Actuation Redundancy

被引：1
|
作者：
徐博强 [1 ]
李铁民 [1 ]
刘辛军 [1 ]
吴军 [1 ]
机构：
[1] Department of Precision Instruments and Mechanology, Tsinghua University
来源：
Tsinghua Science and Technology | 2010年 / 15卷 / 05期
基金：
中国国家自然科学基金;
关键词：
4RRR parallel manipulator; actuation redundancy; singularity; workspace;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
Introduction 3RRR non-redundant parallel mechanisms (PMs) have been extensively studied by scholars in recent years[1-4].However, the drawbacks of 3RRR PMs, such as having too many singularities and a lack of stiffness, dramatically hamper their use. In these situations, redundancy
引用
收藏
页码：509 / 516
页数：8
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