An efficient algorithm to determine the image of a parallelepiped under a linear transformation
SCG '86 Proceedings of the second annual symposium on Computational geometry
Foundations of robotics: analysis and control
Foundations of robotics: analysis and control
An Algorithm for Convex Polytopes
Journal of the ACM (JACM)
A New Optimal Force Distribution Scheme of Multiple Cooperating Robots Using Dual Method
Journal of Intelligent and Robotic Systems
3-d.o.f. Wire Driven Planar Haptic Interface
Journal of Intelligent and Robotic Systems
Design of a reconfigurable planar parallel manipulator
Journal of Robotic Systems
Expert Systems with Applications: An International Journal
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This paper is organized in two parts. In Part I, the wrench polytope concept is presented and wrench performance indices are introduced for planar parallel manipulators (PPMs). In Part II, the concept of wrench capabilities is extended to redundant manipulators and the wrench workspace of different PPMs is analyzed. The end-effector of a PPM is subject to the interaction of forces and moments. Wrench capabilities represent the maximum forces and moments that can be applied or sustained by the manipulator. The wrench capabilities of PPMs are determined by a linear mapping of the actuator output capabilities from the joint space to the task space. The analysis is based upon properly adjusting the actuator outputs to their extreme capabilities. The linear mapping results in a wrench polytope. It is shown that for non-redundant PPMs, one actuator output capability constrains the maximum wrench that can be applied (or sustained) with a plane in the wrench space yielding a facet of the polytope. Herein, the determination of wrench performance indices is presented without the expensive task of generating polytopes. Six study cases are presented and performance indices are derived for each study case.