Abstract
A study of the effect of including redundant actuators on the existence of force-unconstrained configurations for a planar parallel layout of joints is presented. The 3-branch, revolute-jointed, 8-bar configuration is considered in detail. This layout is referred to as a 3-RRR configuration to denote its three branches and the number of joints per branch. Concepts of reciprocal screw quantities and kinematic geometry are used to determine the feasibility of the existence of force-unconstrained positions. Redundant actuation is discussed from the perspective of eliminating families of degeneracies. For the 3-RRR it is shown that one order of infinity of unconstrained configurations is eliminated for each actuator, beyond three, added.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
