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    • Keywords


      Parallel manipulator; isotropy; kinematic design; force redundancy.

    • Abstract


      Optimal kinematic design of parallel manipulators is a challenging problem. In this work, an attempt has been made to present a generalized approach of kinematic design for a 6-legged parallel manipulator, by considering only the minimally required design parameters. The same approach has been used to design a 7-legged redundant parallel manipulator. Two ways of introducing redundancy into the parallel manipulator have been demonstrated and comparison between them has been presented.

    • Author Affiliations


      Vivek Kumar Mehta1 Bhaskar Dasgupta1

      1. Department of Mechanical Engineering, Indian Institute of Technology, Kanpur 208 016, India
    • Dates

  • Sadhana | News

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      Posted on July 25, 2019

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