By Topic

Open-loop stability of overconstrained parallel robotic systems

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Byung-Ju Yi ; Dept. of Mech. Eng., Texas Univ., Austin, TX, USA ; Cho, W. ; Freeman, R.A.

The authors derive the object-based effective stiffness of antagonistically actuated, backdrivable, parallel linkages and show how to use this result to synthesize the generalized input loads required to create a desired system stiffness. They investigate the open-loop stability characteristics of such antagonistically actuated systems as a simple four-bar linkage, a dual-arm system, and a multifingered hand. In addition, they compare object-based and joint-based load distribution schemes in terms of their effect on system stability and input load requirements for an overconstrained planar mechanism. These investigations show an extreme interdependence between system geometry, actuation mode, and stability

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990