Task-based torque minimization of a 3-PṞR spherical parallel manipulator
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DOI: 10.1017/s026357472100062x
Abstract: Abstract A comprehensive dynamic modeling and actuator torque minimization of a new symmetrical three-degree-of-freedom (3-DOF) 3-PṞR spherical parallel manipulator (SPM) is presented. Three actuating systems, each of which composed of an electromotor, a gearbox and… read more here.
Keywords: manipulator; parallel manipulator; spherical parallel; torque minimization ... See more keywords