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 determination of the force and moment capabilities of non-redundantly and redundantly actuated planar parallel manipulators is presented. This new methodology is compared to a previous methodology that used optimization and it is shown that the new methodology is computationally more efficient and yields more accurate results. Based on this methodology. five force and moment capability indices are proposed. The proposed indices are used to generate the wrench capabilities of nine different non-redundantly and redundantly actuated planar parallel manipulator architectures.
| Identifer | oai:union.ndltd.org:uvic.ca/oai:dspace.library.uvic.ca:1828/2309 |
| Date | 04 March 2010 |
| Creators | Zibil, Alp |
| Contributors | Podhorodeski, Ronald Peter, Nokleby, Scott B. |
| Source Sets | University of Victoria |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Rights | Available to the World Wide Web |
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