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Keywords: underactuated redundancy
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
Published Online: July 21, 2021
...Julien M. Audet; Clément Gosselin In this paper, the concept of underactuated redundancy is presented using a novel spatial two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of movable counterweights. The proposed kinematic arrangement makes it possible to intuitively...