Actuation Strategy Based on the Acceleration Model for the 3-PRPR Redundant Planar Parallel Manipulator

Abstract

The potentialities of a manipulator concept based on isotropic translational parallel mechanisms and agonistic-antagonistic dielectric elastomer actuation are investigated in the con- text of human-machine interfaces. Static analysis reveals that this manipulator concept is well suited to the development of novel generation of cost-effective interactive robots with low effect- ive inertia and human-like performance and behaviour. Key