Parallel Manipulators New Developments Part 6 pot

... 3 863 .3 118.34 1 36. 57 24.97 220 X 8 100 3 469 .2 4112.4 127.28 151.48 25.35 250 X 8 100 3 966 .4 469 8.9 139.11 178.12 29. 46 300 X 8 100 5 469 .6 7282.7 152.22 1 96. 47 31.45 Table 6. The results of ... the Institute of systems, Control and Information Engineers. 16( 8), pp. 369 -3 76, 2003. Parallel Manipulators, New Developments 160 temperature, the number of repet...

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... 92.5 100 77.5 97.5 75 13.4 4.0 Group3 62 .5 77.5 80.0 72.5 95.0 20 .6 10.7 Table 4. Experimental Results. Parallel Manipulators, New Developments 4 56 Allerkamp, D.; Böttcher, G.; Wolter, ... 73.2 100 1 Hz 89.2 73.0 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 Samp...

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... equation (28) of velocity. Hence, employing the joint coordinates 6 R∈q as Parallel Manipulators New Developments 26 where l is particular layer number; f l and W l represent the activation ... determine the actual weighting coefficients: e = q d – q (5) W new = W old + e p T (6) Parallel Manipulators, New Developments 46 therefore we can use the L...

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... Parallel Manipulators, New Developments 60 a) b) c) Figure 3: 3-PRRR parallel mechanisms A particular mechanism is thus described, in addition ... October 1991, 439-585, ISSN 0278- 364 9 Selig, J. M. (19 96) . Geometrical Methods in Robotics, Springer-Verlag, ISBN 0387947280, New York Parallel Manipulators, New Developments 72 (30) ... functions φ int...

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... three-degree-of-freedom spherical parallel manipulators, Intl J. of Robotics Research, Vol.23, No.3, (March 2004) pp.237- 245, ISSN 0278- 364 9 Parallel Manipulators, New Developments 184 of the ... ( ) ( ) φΓdet=w (65 ) Parallel Manipulators, New Developments 172 Fig. 1. Architecture of the assembly system based on two cooperating parallel robots 2. Kinema...

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... satisfied. Since the Parallel Manipulators, New Developments 478 useless. Thus, parallel robots with a total of six DOF are not necessary required here. Besides, a 6- DOF parallel robot usually ... 2006a; Tsai, 19 96; Tsai et al., 19 96; Zhao & Huang, 2000) or rotational (Carricato & Parenti-Castelli, 2001b, 2004; Gogu, 2005; Li et al., 2006b, 2007a, 2007b) movemen...

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... was included in this work. Parallel Manipulators, New Developments 324 wherein • [ ] 6 3 56 2 56 1 55 3 45 2 45 1 4 $$$$$$J = is the Jacobian of the parallel manipulator, • ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ × × = 333 333 0I I0 Δ is ... motions of deficient-rank 3- RPS parallel manipulators. Mechanism and Machine Theory, Vol. 37, No. 2, 229-240. Parallel Manipulators, New D...

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... & Fang (19 96) . The three principal screws are { } =− 1 0 1 0 ; 0.2 0 0.1 m $ { } =× 26 0. 966 0 0.259 ; 0 0.22 3. 96 10 m $ (38) { } =− − − × 3 6 0. 966 0 0.259 ; 0 0.22 3. 96 10 m $ The ... Parallel Manipulators, New Developments 372 Huang, Z. (1985). Modeling Formulation of 6- DOF multi-loop Parallel Manipulators, Part- 1: Kinematic Influence Coefficien...

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... are s0 .62 and ms1.7 / respectively, yielding ms 2 ( ) 10 .6 / Pd aT= . s(t) so obtained is shown in Figure 8 and given by equation (47). 23 4 56 ( ) 20.733 87.818 1 46. 5 96 103 .66 9 25 .65 8stttttt=−+ ... Parallel Manipulators 391 Di Gregorio, R. (2001). Analytic formulation of the 6- 3 fully -parallel manipulator’s singularity determination, Robotica, Vol. 19, No. 6, (S...

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... been widely applied to a 6 DOF parallel system even though these may be often used independently in practice. Parallel Manipulators, New Developments 422 0 20 40 60 80 100 -0.05 0 0.05 0.1 0.15 0.2 ... PVDF layer) Time (ms) Parallel Manipulators, New Developments 424 0 20 40 60 80 100 -1 0 1 1st Mode (mm) 0 20 40 60 80 100 -0.1 0 0.1 2nd Mode (mm) 0 20...

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