Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation

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dc.creatorRakotomanga, Novona
dc.creatorChablat, Damien
dc.creatorCaro, Stéphane
dc.date2008-09-18
dc.date.accessioned2026-07-07T10:03:41Z
dc.date.available2026-07-07T10:03:41Z
dc.descriptionThis paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is to select the actuated joint in each limb with regard to the pose of the end-effector. First, the architecture of the mechanism and two kinetostatic performance indices are described. Then, the actuating modes of the mechanism are compared.
dc.descriptionPublished in: Advances in Robot Kinematics, France (2008)
dc.identifierhttps://arxiv.org/abs/0809.3044
dc.identifierhttp://arxiv.org/abs/0809.3044
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/169380
dc.subjectRobotics
dc.titleKinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation
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