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It will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for
(holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair substitution, an under-actuated
manipulator, previously proposed by one of the authors, will be demonstrated to be generated from an inversion of the 6-3 FPM.
Moreover, the kinetostatic analysis of this manipulator will be reconsidered to obtain a simple and compact formulation. This reformulated analysis can be used both in the design of the underactuated manipulator, and in its control.
CitationGrosch, P.; Di Gregorio, R.; Thomas, F. Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study. A: ASME International Design Engineering Technical Conference. "ASME 2009 International Design Engineering Technical Conferences (IDETC)". San Diego: 2009, p. 1-8.
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