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Keywords: energy consumption
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040908.
Paper No: JMR-20-1623
Published Online: April 22, 2021
... and that of the corresponding non-redundant ones, an index related to the minimum singular value of the Jacobian matrix is used to indicate the position of the singular configuration relative to the boundaries of the required workspace. The driving torque and energy consumption can be optimized with this index. Based...
Journal Articles
Andrea Martin-Parra, David Rodriguez-Rosa, Sergio Juarez-Perez, Guillermo Rubio-Gomez, Antonio Gonzalez-Rodriguez, Fernando J. Castillo-Garcia
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014504.
Paper No: JMR-20-1047
Published Online: November 13, 2020
... is presented. This novel assembling allows exploring the difference between the four five-bar mechanism configurations for the same position of the end-effector. Some of these configurations yield to lower time and/or lower energy consumption for the same motorization. First, a dynamic model of the robot has...
