Effect of internal forces on the dynamics of the parallel manipulators

ADLI M. A., Nagai K., Miyata K., Hanafusa H.

1990 IEEE International Workshop on Intelligent Motion Control, IMC 1990, İstanbul, Turkey, 20 - 22 August 1990, vol.2, pp.547-550 identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 2
  • Doi Number: 10.1109/imc.1990.687377
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.547-550
  • Keywords: Compliance, Dynamics, Internal forces, Parallel manipulators, Redundancy
  • Gazi University Affiliated: No

Abstract

© 1991 IEEE.The kinematieal structure of the parallel manipulators enable them to gemerate internal forces in the joints between the members, provided that there exists at least one redundant actuator. Though the internal forces are the elements of the force vectors which cancel each other and have no contribution to the resultant force, they have influence on the structural compliance of the manipulators. The dyramic behavior of a manipulator is closely related to its compliance and therefore is also affected by the internal forces.