Kinematic and dynamic modeling of a parallel manipulator with eight actuation modes

Stéphane Caro, Damien Chablat, Philippe Wenger, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Kinematic and dynamic performances of parallel manipulators are usually not homogeneous throughout their operational workspace. This problem is usually solved by introducing actuation redundancy, which involves force control algorithms. Another approach is the selection of the best actuation modes along a trajectory to be followed with regard to the kinetostatic, elastostatic and dynamic performances of the parallel manipulator. Accordingly, this chapter introduces a novel three degree-of-freedom planar parallel manipulator with variable actuation modes, named NAVARO. NAVARO stands for NAntes Variable Actuation RObot and has eight actuation modes. First, the prototype of the manipulator is presented. Then, its transmission systems are presented. Finally, the kinematic and dynamic models of the NAVARO are developed.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
PublisherKluwer Academic Publishers
Pages315-329
Number of pages15
Volume20
ISBN (Print)978-3-319-05430-8
DOIs
Publication statusPublished - 2014
Event1st International Workshop on Medical and Service Robots - , United Kingdom
Duration: 30 Jun 20131 Jul 2013

Conference

Conference1st International Workshop on Medical and Service Robots
Abbreviated titleMeSRoB 2012
CountryUnited Kingdom
Period30/06/131/07/13

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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