Gripping Force Analysis for the Flat Module of a Parallel Relative Manipulation Mechanism

The article describes a planar parallel mechanism with an integrated gripper, designed for a relative manipulation system. The inverse kinematics problem has been solved for this mechanism, and a methodology for estimating the forces in the actuators is presented. A prototype of the mechanism has been built, and experimental research has been conducted to determine the forces in the actuators. The results of a comparison between experimental and theoretical data are provided. The study demonstrates the applicability of the proposed force estimation methodology for real parallel mechanisms.
EDN: GVWRFO, https://elibrary/gvwrfo

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