Kinetostatics and Dynamics of Redundantly Actuated Planar Parallel Link Mechanisms

Harada, Takashi

doi:10.5772/24384

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2013

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“…The end effector of the mechanism is set at the central position of the endplate. [14]. The differential kinematics or the relationship between the small displacements of the center of the end effector ΔP and the small displacements of the controlled values of the actuators Δc, is expressed as…”

Section: Simultaneous Measurement Methods Formentioning

confidence: 99%

Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors

Harada

Liu

2013

ISRN Robotics

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This paper proposes a method for measuring the internal and external forces of a planar 3-DOF (degree of freedom) redundantly actuated parallel mechanism. The internal forces, force acts inside the endplate and mechanism constraint force, and the external forces, forces act on the endplate and thrusts by actuators, were measured simultaneously using the axial forces of the rods. Kinetostatic equations of the parallel mechanism were used to derive algorithms for measuring the internal and external forces. A link axis force sensor was developed using a strain gauge sensor. To verify the actual internal force of the endplate, a force sensor was also installed on the endplate. A real-time system for measuring the forces of the parallel mechanism was developed using RT-Linux. The external and internal forces were measured accurately.

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Section: Simultaneous Measurement Methods Formentioning

confidence: 99%