Singularity-Free Trajectory Planning of Parallel Manipulators for the Minimum Actuating Force

碩士 === 大葉大學 === 機械工程研究所碩士班 === 95 === Due to the existence of the singular configurations within the workspace for the Stewart platform manipulator(SPM),the actuating force demands will increase drastically as the SPM moves very near or crosses singular points. Therefore, in this paper, a numerical...

Full description

Bibliographic Details
Main Authors: yuh, 林顯育
Other Authors: Chun-Ta CHEN
Format: Others
Language:zh-TW
Published: 2007
Online Access:http://ndltd.ncl.edu.tw/handle/82859527265509633032

Similar Items