Force-unconstrained poses of redundantly actuated planar parallel manipulators
Parallel manipulators are prone to have force-unconstrained configurations. If the resultant. forces together do not span the system of forces to be applied or sustained, the manipulator is degenerate and is force unconstrained. Physically. the mobile platform can have motion even if all the actuate...
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| Language: | English en |
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2010
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| Online Access: | http://hdl.handle.net/1828/2330 |