Location of Repository

Generation of Under-Actuated Manipulators With Nonholonomic Joints From Ordinary Manipulators

By P. Grosch, R. Di Gregorio and F. Thomas


This paper shows how to generate underactuated manipulators by substituting nonholonomic spherical pairs for (holonomic) spherical pairs in ordinary (i.e. not underactuated) manipulators. As a case study, an underactuated manipulator, previously proposed by one of the authors, is demonstrated to be generated, through this pair substitution from an inversion of the 6-3 fully parallel manipulator. Moreover, the kinetostatic analysis of this underactuated manipulator is reconsidered, and a simple and compact formulation is obtained. The results of this kinetostatic analysis can be used both in the design of the underactuated manipulator and in its control

Topics: kinetostatics, nonholonomic constraint, ordinary manipulator, underactuated manipulator, parallel manipulator
Year: 2010
DOI identifier: 10.1115/1.4000527
OAI identifier: oai:iris.unife.it:11392/1392756
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://hdl.handle.net/11392/13... (external link)
  • Suggested articles

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.