Statics of In-Parallel Manipulator Systems

[+] Author and Article Information
S. K. Agrawal, B. Roth

Department of Mechanical Engineering, Stanford University, Stanford, CA 94305

J. Mech. Des 114(4), 564-568 (Dec 01, 1992) (5 pages) doi:10.1115/1.2917044 History: Received March 01, 1990; Online June 02, 2008


In-parallel systems can have some active and some passive joints (i.e., joints with and without joint actuators). The questions that we address in this paper are: how to choose the active and passive joints, how to know whether a set of active joints is sufficient, redundant, or minimal to control the end-effector, and whether there exists a unique choice of active actuators. Our approach to study this problem is based on instantaneous properties of series chains as derived from the theory of screw systems. In this framework, we identify those screws that correspond to the joint actuators of the component series chains. Once the correspondence is made, the sought after actuator properties are deduced from the vector space properties of these screws.

Copyright © 1992 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.






Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In