?WRENCH ANALYSIS FOR 3-D MODEL USED IN ROBOTIC END-EFFECTOR

Authors

  • Zulfiqar Ali Soomro Mechanical Engineering Department, Quaid-e-Awam University of Engineering Sciences & Technology Nawabshah, Pakistan

Keywords:

Wrench analysis, 3 - D robotic model.

Abstract

In this paper, wrench analysis of a new proposed 3-D robotic model is discussed and applied. The model is basically used
for calculating applied force through known spring stiffnesses and concerned compressive displacements. The wrench is
correlated by already determined Jacobian matrix with global displacements. Local displacements are determined practi-
cally by applying load vertically in centrer. The global displacements (taken as reference) are calculated by congruence
matrix through wrench analysis and shown. The theoretical relationship between global displacements and individual
local displacements is also calculated and shown. Besides this practical determination of the wrench analysis is also
verified by applying force on any leg of the model.

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Published

2003-12-22

How to Cite

Soomro, Z. A. (2003). ?WRENCH ANALYSIS FOR 3-D MODEL USED IN ROBOTIC END-EFFECTOR. Biological Sciences - PJSIR, 46(6), 473–476. Retrieved from http://biostaging.pjsir.org/index.php/biological-sciences/article/view/1705

Issue

Vol. 46 No. 6 (2003): Pakistan Journal of Scientific and Industrial Research

Section

Articles