Revisiting screw theory-based approaches in the constraint wrench analysis of robotic systems
Sign Up to like & getrecommendations! Published in 2021 at "Robotica"
DOI: 10.1017/s026357472100117x
Abstract: Abstract This paper aims at shedding lights on two approaches that were recently proposed for the constraint wrench analysis of robotic manipulators. Both approaches benefit from the Newton–Euler equations, screw notations, and constraint transformation matrices… read more here.
Keywords: joint based; analysis robotic; constraint wrench; constraint ... See more keywords
A geometrically accurate deformable-body approach for the analysis of robotic and parallel-mechanism systems
Sign Up to like & getrecommendations! Published in 2020 at "Mechanics Based Design of Structures and Machines"
DOI: 10.1080/15397734.2020.1761385
Abstract: Abstract Strength and durability investigations of parallel-mechanism (PM) and robotic systems, used as integral part in modern manufacturing, are necessary at the virtual design stage. Nonetheless, because of the limitations of existing finite element (FE)… read more here.
Keywords: analysis; parallel mechanism; geometry; approach ... See more keywords