A Systematic Approach for the Jacobian Analysis of Parallel Manipulators with Two End-Effectors

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• 作者：A.G.L. Hoevenaars^a ; ^{a.g.l.hoevenaars@tudelft.nl} ; C. Gosselin^b ; ^{clement.gosselin@gmc.ulaval.ca} ; P. Lambert^a ; ^{p.lambert@tudelft.nl} ; J.L. Herder^a ; ^{j.l.herder@tudelft.nl}
• 关键词：Parallel manipulators ; Gripping ; Two end-effectors ; Configurable platform ; Jacobian analysis ; Screw theory
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：March 2017
• 年：2017
• 卷：109
• 期：Complete
• 页码：171-194
• 全文大小：1860 K
• 卷排序：109

文摘

The Jacobian analysis of parallel manipulators with two end-effectors (PM2Es) is generalized. Constraint relations must be included for the analysis to be valid in a static force analysis. Compliance ratios are introduced to deal with internal overconstraints. An example Jacobian analysis is experimentally validated.