The available wrench set is the set of wrenches that can be generated at the platform of a parallel manipulator. In a given configuration, this set is known to be a convex polytope and, recently, it has been pointed out that it is in fact a particular type of convex polytope called a zonotope. This paper deals with the case of parallel manipulators having as many or more actuators than degrees of freedom and discusses a characterization of the facets of the available wrench set.
CITATION STYLE
Gouttefarde, M., & Krut, S. (2010). Characterization of Parallel Manipulator Available Wrench Set Facets. In Advances in Robot Kinematics: Motion in Man and Machine (pp. 475–482). Springer Netherlands. https://doi.org/10.1007/978-90-481-9262-5_51
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