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Differentially flat design of a closed-chain planar under-actuated 2 DOF system

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3 Author(s)
Chengkun Zhang ; Department of Mechanical Engineering, University of Delaware, Newark, 19716-3140 USA ; Jaume Franch ; Sunil K. Agrawal

This paper investigates when a 2 degree-of-freedom PRRRP closed-chain system with a single actuator is both strongly accessible and feedback linearizable. It is demonstrated that for certain choices of mass distribution and addition of springs, an under-actuated 2 DOF PRRRP system is static feedback linearizable, i.e., also differentially flat.

Published in:

Robotics and Automation (ICRA), 2012 IEEE International Conference on

Date of Conference:

14-18 May 2012