摘要
Parallel mechanisms have some good advantages compared with conventional articulated arms. The only drawback is its small workspace because of its in-parallel configuration. There has always been a workspace problem with parallel mechanisms. The chapter proposes that a parallel mechanism with linear passive joints to adjust link length. This parallel mechanism can achieve different workspaces by adjusting the link length. The link lengths of the parallel mechanism not active but passive using dynamics are also tried to be controlled. This chapter proposes the control algorithm of these passive linear joints to adjust the link lengths using dynamics in the case of a 2- DOF planer prototype.
源语言 | 英语 |
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主期刊名 | Mechatronics for Safety, Security and Dependability in a New Era |
出版商 | Elsevier Ltd. |
页 | 431-434 |
页数 | 4 |
ISBN(印刷版) | 9780080449630 |
DOI | |
出版状态 | 已出版 - 2007 |
已对外发布 | 是 |