Akademik Veri Yönetim Sistemi
IEEE/RSJ International Workshop on Intelligent Robot and Systems '91, 3 - 05 Kasım 1991, cilt.2, ss.773-778
When a mechanism is overconstrained it leads to the generation of internal forces. These forces do no work but has effect on the apparent structural stiffness of the mechanisms. The degree of this effect depends on the magnitude or the mode of the internal forces and the geometry of the mechanisms. Internal forces may result from external or gravitational forces or the inertial loads during the motion. If a mechanism has a closed chain structure, the redundant actuation may generate internal forces as well. This study comprise the analysis of the apparent structural stiffness of the closed mechanisms due to the redundant actuation and the forces arisen during the dynamic motion.