An Algorithm to Design Redundant Manipulators of Optimally Fault-Tolerant Kinematic Structure
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3003282
Abstract: One measure of the global fault tolerance of a redundant robot is the size of its self-motion manifold. If this size is defined as the range of its joint angles, then the optimal self-motion manifold… read more here.
Keywords: size; motion manifold; kinematic structure; self motion ... See more keywords
Modal Kinematic Analysis of a Parallel Kinematic Robot with Low-Stiffness Transmissions
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DOI: 10.3390/robotics10040132
Abstract: Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical… read more here.
Keywords: kinematic structure; analysis parallel; stiffness; structure ... See more keywords