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Wrench Recovery for Wire-Actuated Parallel Manipulators

  • Leila Notash
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

Methodologies for investigating the effect of wire/actuator failures on the wrench capability of wire-actuated parallel manipulators are presented that result in minimum norm solution for the correctional wire tension and overall tension vectors. A planar manipulator is simulated to illustrate the proposed methodologies.

Keywords

Jacobian Matrix Null Space Minimum Norm Range Space Task Space 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Bibliography

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Leila Notash
    • 1
  1. 1.Queen’s UniversityKingstonCanada

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