{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T22:34:25Z","timestamp":1767652465261},"reference-count":21,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2012,10,15]],"date-time":"2012-10-15T00:00:00Z","timestamp":1350259200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2013,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, a novel optimal torque distribution method for a redundantly actuated parallel robot is proposed. Geometric analysis based on screw theory is performed to calculate the stiffness matrix of a redundantly actuated 3-RRR parallel robot. The analysis is performed based on statics focusing on low-speed motions. The stiffness matrix consisting of passive and active stiffness is also derived by the differentiation of Jacobian matrix. Comparing two matrices, we found that null-space vector is related to link geometry. The optimal distribution torque is determined by adapting mean value of minimum and maximum angles as direction angles of null-space vector. The resulting algorithm is validated by comparing the new method with the minimum-norm method and the weighted pseudo-inverse method for two different paths and force conditions. The proposed torque distribution algorithm shows the characteristics of minimizing the maximum torque.<\/jats:p>","DOI":"10.1017\/s0263574712000562","type":"journal-article","created":{"date-parts":[[2012,10,15]],"date-time":"2012-10-15T10:12:29Z","timestamp":1350295949000},"page":"549-554","source":"Crossref","is-referenced-by-count":17,"title":["Optimal torque distribution method for a redundantly actuated 3-RRR parallel robot using a geometrical approach"],"prefix":"10.1017","volume":"31","author":[{"given":"Ho-Seok","family":"Shim","sequence":"first","affiliation":[]},{"given":"TaeWon","family":"Seo","sequence":"additional","affiliation":[]},{"given":"Jeh Won","family":"Lee","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,10,15]]},"reference":[{"key":"S0263574712000562_ref21","unstructured":"H.-S. Shim , \u201cOptimal Torque Distribution Method of Redundant 3-RRR Parallel Robot by Geometrical Analysis,\u201d Ph.D. Thesis (in Korean) (Yeungnam University, Republic of Korea, 2009)."},{"key":"S0263574712000562_ref18","first-page":"2094","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Honegger","year":"1998"},{"key":"S0263574712000562_ref14","volume-title":"Ph.D. Dissertation","author":"Griffis","year":"1991"},{"key":"S0263574712000562_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2004.10.005"},{"key":"S0263574712000562_ref12","doi-asserted-by":"publisher","DOI":"10.1163\/156855303322395226"},{"key":"S0263574712000562_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1998.680665"},{"key":"S0263574712000562_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004517"},{"key":"S0263574712000562_ref5","doi-asserted-by":"crossref","first-page":"367","DOI":"10.1109\/TRA.2002.1019472","article-title":"Eclipse-II: a new parallel mechanism enabling continuous 360-degree spinning plus three-axis translational motions","volume":"18","author":"Kim","year":"2002","journal-title":"IEEE Trans. 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