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Performance analysis of a reconfigurable redundant parallel manipulator (Contributo in atti di convegno)

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Performance analysis of a reconfigurable redundant parallel manipulator (Contributo in atti di convegno) (literal)

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Vertuan, Angelo; Legnani, Giovanni; Adamini, Riccardo; Tosi, Diego; Pedrocchi, Nicola (2009)
Performance analysis of a reconfigurable redundant parallel manipulator
in Reconfigurable Mechanisms and Robots, 2009. ReMAR 2009. ASME/IFToMM International Conference, London, 22-24 June 2009
(literal)

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Vertuan, Angelo; Legnani, Giovanni; Adamini, Riccardo; Tosi, Diego; Pedrocchi, Nicola (literal)

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Proceedings of the 2009 ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2009 (literal)

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Titolo

Performance analysis of a reconfigurable redundant parallel manipulator (literal)

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Abstract

This work discusses the kinetostatic performances f a new reconfigurable parallel-serial hybrid manipulator with edundant actuators carrying a serial wrist with 3 degrees of freedom (dof) The parallel part can be easily reconfigured with simple disassembly and reassembly procedure to obtain different onfigurations that can be classified in the following groups: 3 dof, dof and 3 dof with redundant actuation. The paper focuses on he kinematics of the parallel structure solving the direct and the verse kinematics, analyzing the singularities and evaluating some inetostatic performance indices. (literal)

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