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Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study
dc.contributor.author | Grosch Obregon, Patrick John |
dc.contributor.author | Gregorio, Raffaele di |
dc.contributor.author | Thomas, Federico |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2010-06-28T10:26:23Z |
dc.date.available | 2010-06-28T10:26:23Z |
dc.date.created | 2009 |
dc.date.issued | 2009 |
dc.identifier.citation | Grosch, 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. |
dc.identifier.uri | http://hdl.handle.net/2117/7862 |
dc.description.abstract | 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. |
dc.format.extent | 8 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots, Industrial |
dc.subject.lcsh | Manipulators (Mechanism) |
dc.subject.lcsh | Robots -- Kinematics |
dc.subject.other | Kinetostatics Non-holonomic constraint Underactuated manipulator Parallel manipulator |
dc.title | Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study |
dc.type | Conference report |
dc.subject.lemac | Robots industrials |
dc.subject.lemac | Manipuladors (Mecanismes) |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Manipulators |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Industrial robots |
dc.relation.publisherversion | http://www.asmeconferences.org/idetc09/ |
dc.rights.access | Restricted access - publisher's policy |
local.identifier.drac | 2567322 |
dc.description.version | Postprint (published version) |
local.citation.author | Grosch, P.; Di Gregorio, R.; Thomas, F. |
local.citation.contributor | ASME International Design Engineering Technical Conference |
local.citation.pubplace | San Diego |
local.citation.publicationName | ASME 2009 International Design Engineering Technical Conferences (IDETC) |
local.citation.startingPage | 1 |
local.citation.endingPage | 8 |