Wrench capabilities of redundantly-actuated planar parallel manipulators
The wrench capability of a manipulator is defined as the maximum forces and moments that can be applied (or sustained) by the manipulator. Understanding these kinetostatic performances of a manipulator is crucial in design and control of manipulators. A novel analytical methodology for the determina...
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| Language: | English en |
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2010
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| Online Access: | http://hdl.handle.net/1828/2309 |