... more precise and flexible manipulators, the combination of TWUSMs and ISMAAs proved to be an efficient way to meet those requirements. The two kinds of actuators made up of functional materials can support and compensate each other so as to construct a manipulator that meets well the demands of both...

... flexible manipulators vibrations finite element analysis plates (structures) beams (structures) springs (mechanical) sensitivity analysis eigenvalues and eigenfunctions frequency response manipulator kinematics Parallel Kinematic Machines (PKMs) represent a significant change in machine...

... to be the boundary constraint, the inverse dynamic equations are developed. The input joint angles and torques obtained by the proposed method can drive the cooperative flexible manipulators holding an object passing through a given trajectory accurately with very low internal forces. The optimum load distribution...

... Engineering, University of Bologna. Contributed by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received January 2000. Associate Editor: J. S. Rastegar. 01 January 2000 flexible manipulators statics inverse problems elastic deformation...