Parallel Manipulators New Developments Part 3 pot

... ),(= 22 mY ω , ),0(= 33 mY , where 0 2 ≠m and 0= 2 m⋅ ω . Now )0,(== 11 ω YB , )=,0(== 22122 mbYYB − , )=,0(== 33 33 mbYB . We know, see Remark 3 that Parallel Manipulators, New Developments ... ],[=],[ 31 31 BBYY , ],[=],[ 2 132 BBYY − and ),(= 32 2 mmspan τ . b 3 ) TRR: then ),0(= 11 mY , ),(= 22 mY ω , ),(= 33 mY ω , 32 mm ≠ , 0= 2 m⋅ ω , 0= 3 m⋅ ω . No...

Ngày tải lên: 21/06/2014, 19:20

... 0 0 1 0.6928 2 0.6000 0 .34 64 3 1. 039 2 4 2 0.4000 ― ― ― 3 0.7483i ― ― ― 4 -0.7483i ― ― ― 5 0.7483i ― ― ― 6 -0.7483i ― ― ― 7 0.7483i ― ― ― 8 -0.7483i ― ― ― Table 2. Forward ... 63. 3 94.7 Rounded Samples 3 Hz 81.6 80 .3 88.5 94.7 0Hz 56.6 74 .3 66.7 59.2 1 Hz 93. 3 90.8 81 .3 81.6 Percentage of Correct Answers Grated Samples 3 Hz 83. 8 93. 2 94.7 85.9...

Ngày tải lên: 21/06/2014, 19:20

... i.e., 0=)( 233 21 cucuu  + − in the case of RTT, a 2 ) if 0=),0(),0( 31 232 3 132 1 mmcuummcuu ×+×  ; i.e., 0=)( 233 12 cucuu  + in the case of TRT, a 3 ) if 0=),0(),0( 21 232 2 133 1 mmcuummcuu ... ],[=],[ 2121 BBYY − , ],[=],[ 32 31 BBYY , ],[=],[ 31 32 BBYY and ),(= 31 2 mmspan τ . a 3 ) For TTR we have ),0(= 11 mY , ),0(= 22 mY , ),(= 33 mY ω and 31 = YB ,...

Ngày tải lên: 21/06/2014, 19:20

... 1926.2 2 137 .9 78.05 91 .33 19 .33 150 X 8 100 2184.4 2410.5 92.17 102.09 21.96 170 X 8 100 2 432 .7 2985.0 100.02 114. 43 22.07 200 X 8 100 32 57 .3 38 63. 3 118 .34 136 .57 24.97 220 X 8 100 34 69.2 4112.4 ... 60 X 7 100 72 78 18. 03 22.21 13. 45 70 X 7 100 85 93 26.07 30 .18 15.68 80 X 8 100 96 108 32 .09 39 . 43 17. 13 90 X 8 100 119 134 39 .01 51.19 19.86 100 X 8 10...

Ngày tải lên: 21/06/2014, 19:20

... can be partitioned as: ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = HH OH M  (12) with: ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎣ ⎡ = ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎣ ⎡ = kji kji kji T T T www www www 33 333 3 32 3 232 31 3 131 33 32 31 ˆ ˆ ˆ w w w H ( 13) and ... () ⎪ ⎪ ⎪ ⎩ ⎪ ⎪ ⎪ ⎨ ⎧ ⋅ = = ⋅−= 11 22 1 2 232 11 121 ,2atan θ θ c rd b rr rdca () ⎪ ⎪ ⎪ ⎩ ⎪ ⎪ ⎪ ⎨ ⎧ ⋅ = = ⋅−= 12 33 2 33 131 2 232 ,2atan θ θ c rd b rr rdca () ⎪ ⎪ ⎪ ⎩ ⎪ ⎪ ⎪...

Ngày tải lên: 21/06/2014, 19:20

... z A y A x A a 01 a 02 a 03 A 1 M 11 M 11 ' M 12M 12 ' M 13 M 14 l 11 l 12 θ 1 θ 2 θ 3 M 21 M 21 ' M 22 M 22 ' l 21 l 22 M 23 M 24 M 34 A 2 A 3 M 31 M 31 ' M 32 ' M 32 M 33 l 31 l 32 z B x B p y B o (a) Structure (b) Geometry Fig. 7. Modified 3- 7R manipulator 3. 2 Kinematics The forward ... movements. Parallel Manipulators,...

Ngày tải lên: 21/06/2014, 19:20

... work. Parallel Manipulators, New Developments 32 4 wherein • [ ] 6 3 56 2 56 1 55 3 45 2 45 1 4 $$$$$$J = is the Jacobian of the parallel manipulator, • ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ × × = 33 3 33 3 0I I0 Δ is ... Φ− ⎡ ⎤ ⎢ ⎥ ⎢ ⎥ == ⎢ ⎥ ⎢ ⎥ ⎣ ⎦ 33 1 13 33 23 1 () . 2 TT oooo IO PI JMJJMJ IO PI (17) Using ( 13) and (14), the decomposition of f is: Parallel Manipulators,...

Ngày tải lên: 21/06/2014, 19:20

... Motions of Some 3- DOF Parallel Manipulators 35 5 () Δ= = =++−−− = 11 12 13 14 11 12 13 21 22 23 24 21 22 23 31 32 33 34 31 32 33 41 42 43 44 222 11 22 22 33 11 33 12 23 13 ; i jj i cccc ccc cccc Dc ... two equations ⋅ = ⋅ P h ω v ωω (2) Parallel Manipulators, New Developments 36 0 + ++++= 22 11 12 22 13 23 33 2220au auw aw au aw a (33 ) Eq....

Ngày tải lên: 21/06/2014, 19:20

...      TT TT 33 3 3 31 41 1 32 42 2 31 1 24 2 33 3 44 4 44 4 4 ()() 33 3 31 1 24 2 33 3 44 4 3 4 444 rrr M MM MRR rrr θθθθ +− +− −+       (38 ) The coefficients of ... forces in eqn (38 ) are TT 3 31 41 3 1 3 13 3 2 4 24 4 ()() r AAr cr c r θθ θθ −=−+−+    (39 a) TT 3 32 42 3 1 3 13 3 2 4 24 4 ()() r AAr sr s r θθ θθ −=−...

Ngày tải lên: 21/06/2014, 19:20

... Planar Parallel Manipulator with Structurally Flexible Linkages 417 36 3 112 233 10 1 0 10 010101 33 3 33 3 JR scs cs c × Γ −− − ⎡⎤ ⎢⎥ =− − −∈ ⎢⎥ −−− ⎢⎥ ⎣⎦ where: ixi es = :3 , iyi ec = :3 ... ), sway ( y ), and heave Parallel Manipulators, New Developments 438 01 234 56 -3 -2 -1 0 1 2 3 4 Roll Pitch Yaw Angle errors [deg] Time [sec] 01 234 56 -2 -1 0 1 2...

Ngày tải lên: 21/06/2014, 19:20