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| HAL : hal-00322760, version 1 |
| arXiv : 0809.3044 |
| Fiche détaillée |  Récupérer au format |
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| Advances in Robot Kinematics, France (2008) |
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| Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation |
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| Novona Rakotomanga 1Damien Chablat 2 |
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| (23/06/2008) |
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| This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is to select the actuated joint in each limb with regard to the pose of the end-effector. First, the architecture of the mechanism and two kinetostatic performance indices are described. Then, the actuating modes of the mechanism are compared. |
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| 1 : | Département de génie de la production automatisée (GPA) |
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Ecole de Technologie Supérieure |
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| 2 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Parallel mechanism – regular dextrous workspace – variable actuated mechanism – singularities – workspace analysis |
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| Liste des fichiers attachés à ce document : | ||||||||||
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| hal-00322760, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00322760 | |
| oai:hal.archives-ouvertes.fr:hal-00322760 | |
| Contributeur : Damien Chablat | |
| Soumis le : Jeudi 18 Septembre 2008, 15:39:23 | |
| Dernière modification le : Mardi 25 Novembre 2008, 22:55:07 | |
