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- W2563614984 abstract "Although actuators are the elements that drive the robot, and in spite of the fact that robot control is usually directed towards, and sensors are often located at, the actuators, most of the previous research on analysis and design of robot manipulators relates to analyzing and optimizing their structure and fixed parameters without regard to the form of actuation of the joints.This thesis is concerned with the effects of actuation schemes, i.e., transmission ratios and location of the actuators, on the kinematic and dynamic performances of serial and in-parallel manipulators. The thesis is divided in four main chapters, which deal, respectively, with the kinematic performance of serial structures, the kinematic performance of in-parallel structures, the dynamic performance of serial structures, and the dynamic performance of in-parallel structures. Each chapter begins by presenting a framework on how to derive the respective (kinematic or dynamic) model in actuator (joint) space, given the corresponding model in joint (actuator) space and the new actuator locations and drive train ratios. Then it redefines well-known performance measures based on the new models, so that versions of the measures in both joint and actuator spaces are available. For each measure it derives properties relating its joint space to its actuator space description, and it demonstrates that the choice of actuation schemes can change performance. In the case of in-parallel manipulators, this work also shows that the actuators' locations can modify singular postures. It presents necessary and sufficient conditions on how to transform a singular configuration into a non-singular one by simply changing the actuators' locations.In summary, this thesis shows that actuation schemes have an impact on the kinematics and dynamics of robot manipulators, and that the proper choice of actuator locations and transmission ratios can improve performance." @default.
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- W2563614984 date "1998-03-17" @default.
- W2563614984 modified "2023-09-23" @default.
- W2563614984 title "The effects of actuation schemes on the performance of robot manipulators" @default.
- W2563614984 hasPublicationYear "1998" @default.
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