Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="593606.fig.0013a" src="https://static.hindawi.com/articles/isrn/volume-2013/593606/figures/593606.fig.0013a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Configuration 1</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="593606.fig.0013b" src="https://static.hindawi.com/articles/isrn/volume-2013/593606/figures/593606.fig.0013b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Configuration 2</td></tr></table></td></tr><tr class="fig-image" id="c"><td><img alt="593606.fig.0013c" src="https://static.hindawi.com/articles/isrn/volume-2013/593606/figures/593606.fig.0013c.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(c) </b>Configuration 3</td></tr></table></td></tr><tr class="fig-image" id="d"><td><img alt="593606.fig.0013d" src="https://static.hindawi.com/articles/isrn/volume-2013/593606/figures/593606.fig.0013d.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(d) </b>Configuration 4 </td></tr></table></td></tr></table>

<table>Configurations for evaluation of external force measurement.</table>

International Scholarly Research Notices

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Figure 13

Figure 13: Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors 