Title

Geometric Construction-Based Realization of Spatial Elastic Behaviors in Parallel and Serial Manipulators

Document Type

Article

Language

eng

Publication Date

3-16-2018

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Source Publication

IEEE Transactions on Robotics

Source ISSN

1552-3098

Abstract

This paper addresses the realization of spatial elastic behavior with a parallel or a serial manipulator. Necessary and sufficient conditions for a manipulator (either parallel or serial) to realize a specific elastic behavior are presented and interpreted in terms of the manipulator geometry. These conditions completely decouple the requirements on component elastic properties from the requirements on mechanism kinematics. New construction-based synthesis procedures for spatial elastic behaviors are developed. With these synthesis procedures, one can select each elastic component of a parallel (or serial) mechanism based on the geometry of a restricted space of allowable candidates. With each elastic component selected, the space of allowable candidates is further restricted. For each stage of the selection process, the geometry of the remaining allowable space is described.

Comments

IEEE Transactions on Robotics, Vol. PP, No. 99 (March 16, 2018): 1-17. DOI.

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