A Survey on Underactuated Mechanisms
Underactuated mechanisms are mechanical systems with fewer control inputs than degrees of freedom. As this mechanism has many advantages such as light weight, low cost and low energy consumption, many researches have been focused on it in recent years with many valuable fruits. This paper is devoted to presenting the systemic review of the underactuated mechanisms in following aspects: principle, kinematics and dynamics, and controllability of underactuated mechanism. Finally, further research direction on underactuated mechanism is also discussed.
Underactuated mechanisms Kinematics and dynamics Controllability Robot
He Bin Liu Wen Zhen Lv-Hai Feng
Shanghai University Shanghai Key Laboratory of Mechanical Automation and Robotics Shanghai P.R.China
国际会议
The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)
沈阳
英文
551-555
2010-03-27（万方平台首次上网日期，不代表论文的发表时间）