Abstract
AbstractThe use of robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to handle even the worst case scenarios. Thus, a systematic analysis of the effects of external forces on manipulators with passive joints is presented. In parallel manipulators passive joints can appear as a design choice or as a result of torque failure. In both cases a good understanding of the effects that passive joints have on the mobility and motion of the parallel manipulator is crucial. We first look at the effect that passive joints have on the mobility of the mechanism. Then, if the mobility, considering passive joints only, is not zero we find a condition for which the parallel manipulator is conditionally equilibrated with respect to a specific external force. (© 2014 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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