NDLI: Inverse statics analysis of planar parallel manipulators via Grassmann-Cayley algebra

Content Provider	Springer Nature Link
Author	Wen, Kefei Lee, Jeh Won Seo, TaeWon
Copyright Year	2016
Abstract	The wrench Jacobian matrix plays an important role in the statics and singularity analysis of planar parallel manipulators (PPMs). The Jacobian matrix can be calculated based on the conventional Plücker coordinate method. However, this method cannot be applied when two links are in parallel. A new approach is proposed for the analysis of the forward and inverse wrench Jacobian matrix using Grassmann-Cayley algebra (GCA). A symbolic formula for the inverse statics analysis is obtained based on the Jacobian. The proposed method can be applied when two links are in parallel. The approach is explained in detail based on a planar 3-RPR PPM example, and the analysis procedure for nine other PPMs is also presented. This novel approach to deriving the statics can be applied to spatial parallel manipulators and redundant cases of PPMs.
Starting Page	1389
Ending Page	1394
Page Count	6
File Format	PDF
ISSN	15986446
Journal	International Journal of Control, Automation and Systems
Volume Number	14
Issue Number	5
e-ISSN	20054092
Language	English
Publisher	Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
Publisher Date	2016-06-01
Publisher Place	Bucheon, Seoul
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Grassmann-Cayley algebra planar parallel manipulator Plücker coordinates statics Control, Robotics, Mechatronics
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications

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