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

页码：509 / 516

页数：8

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