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Erschienen in:
2014 | OriginalPaper | Buchkapitel
3. Overactuated Topologies with Coupled Schönflies Motions
verfasst von : Grigore Gogu
Erschienen in: Structural Synthesis of Parallel Robots
Verlag: Springer Netherlands
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Abstract
In the overactuated parallel robotic manipulator with coupled Schönflies motions presented in this section each operational velocity depends on maximum three independent actuated joint velocities \( v_{1} = v_{1} (\dot{q}_{1} ,\dot{q}_{2} ,\dot{q}_{3} ),\;v_{2} = v_{2} (\dot{q}_{1} ,\dot{q}_{2} ,\dot{q}_{3} ),\;v_{3} = v_{3} (\dot{q}_{4} ) \) and \( \omega_{\delta } = \omega_{\delta } (\dot{q}_{1} ,\dot{q}_{2} ,\dot{q}_{3} ) \). In these topologies the operational velocity v
3 is uncoupled, but the Jacobian matrix in Eq. (1.18) is not triangular and the parallel robot always has coupled motions.