A Compliant PKM Mesomanipulator : Kinematic and Dynamic Analyses
Joint Authors
Amici, C.
Borboni, A.
Faglia, R.
Source
Advances in Mechanical Engineering
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2009-12-13
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The kinematic and dynamic analyses of a PKM mesomanipulator are addressed in this paper: the proposed robot architecture allows only pure translations for the mobile platform, while the presence of flexure hinges introduces compliance into the structure.
The analytical solutions to direct and inverse kinematic problems are evaluated after a brief introduction of the basic adopted nomenclature, the manipulator workspace and the robot singularity configurations are then described, and the analytical solution to the inverse dynamic problem is presented.
Thereafter, an overview on some of the simulations results obtained through a software implementation of the described algorithms is addressed, and the most salient aspects of this topic are summarized in the final conclusions.
American Psychological Association (APA)
Amici, C.& Borboni, A.& Faglia, R.. 2009. A Compliant PKM Mesomanipulator : Kinematic and Dynamic Analyses. Advances in Mechanical Engineering،Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-492059
Modern Language Association (MLA)
Amici, C.…[et al.]. A Compliant PKM Mesomanipulator : Kinematic and Dynamic Analyses. Advances in Mechanical Engineering No. 2010 (2010), pp.1-9.
https://search.emarefa.net/detail/BIM-492059
American Medical Association (AMA)
Amici, C.& Borboni, A.& Faglia, R.. A Compliant PKM Mesomanipulator : Kinematic and Dynamic Analyses. Advances in Mechanical Engineering. 2009. Vol. 2010, no. 2010, pp.1-9.
https://search.emarefa.net/detail/BIM-492059
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-492059