On Force-Moment Transmission of Parallel Manipulator

병렬형 매니퓰레니타의 힘전달 특성에 관하여

This paper presents a method in analyzing the output force/moments transmission form the applied input forces of the paralled manipulator. Like a serial manipulator the Jacobian matrix introduced in the paper plays role in relating the output forces/monents with the input forces. The force/moment manipulability have been investigated by considering the force transmission and momen transmission independently. Sensitivity analysis has been done and an illuatrating example is given.