Detumbling control for kinematically redundant space manipulator post-grasping a rotational satellite
Sign Up to like & getrecommendations! Published in 2017 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2017.09.025
Abstract: Abstract The objective of this paper is to establish a detumbling strategy and a coordination control scheme for a kinematically redundant space manipulator post-grasping a rotational satellite. First, the dynamics of the kinematically redundant space… read more here.
Keywords: rotational satellite; redundant space; control; space manipulator ... See more keywords
A Methodology for Designing a Lightweight and Energy-Efficient Kinematically Redundant Actuator
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3192637
Abstract: Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking… read more here.
Keywords: redundant actuator; methodology; energy; methodology designing ... See more keywords
A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4041698
Abstract: This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal… read more here.
Keywords: redundant planar; robot manipulator; robot; planar parallel ... See more keywords
Modeling and performance analysis of elastostatic stiffness of kinematically redundant parallel mechanisms
Sign Up to like & getrecommendations! Published in 2023 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/09544062231167023
Abstract: An analytical elastostatic stiffness modeling approach for kinematically redundant parallel mechanisms (KR-PMs) according to screw theory and the second theorem of Castigliano is proposed. The 2-UPR/PRPU and 2-PUPR/PRPU KR-PMs are used as two examples of… read more here.
Keywords: stiffness; redundant parallel; parallel mechanisms; elastostatic stiffness ... See more keywords