IEEE - Institute of Electrical and Electronics Engineers, Inc. - Cartesian stiffness evaluation of a novel 2 DoF parallel wrist under redundant and antagonistic actuation

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Cheng Li ; Yuanqing Wu ; Jiachun Wu ; Weiyi Shi ; Dan Dai ; Jinbo Shi ; Zexiang Li
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 959 - 964
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696466
Regular:

In this paper, we present an experimental evaluation of the Cartesian stiffness of a novel parallel wrist under redundant and antagonistic actuation. The mechanism in consideration is Omni-Wrist V... View More

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