Parallel Manipulators New Developments Part 12 ppt
Parallel Manipulators New Developments Part 12 ppt
... inverses, Proceedings of 1994 IEEE International
Parallel Manipulators, New Developments
342
−
⎡
⎤
⎢
⎥
+− −
=
⎢
⎥
−−
⎢
⎥
⎢
⎥
−−+
⎣
⎦
12
1 2122
12
121 1 2
()
()
()
I
ff
mPPfm
f
ff
PPf mm
. (18) ...
⎥
⎥
⎥
⎥
⎦
⎤
⎢
⎢
⎢
⎢
⎣
⎡
+−+−
−−−−
=
11
p
13
p
10
p
13
p
11
p
12
p
14
p
8
p
9
p
13
p
10
p
12
p
14
p
7
p
9
p
12
p
14
p
13
p
12
p
11
p
12
p
10
p
12
p
9
p
12
p
7
p
14
p...
Parallel Manipulators New Developments Part 17 pptx
... separately, a new
Type Design of Decoupled Parallel Manipulators with Lower Mobility
487
x
y
z
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
... satisfied. Since the
Parallel Manipulators,...
Parallel Manipulators New Developments Part 13 ppt
... Parallel Manipulators, New Developments
372
Huang, Z. (1985). Modeling Formulation of 6-DOF multi-loop Parallel Manipulators, Part- 1:
Kinematic Influence Coefficients, ... The coordinate translation
is
Parallel Manipulators, New Developments
368
From Eq.s (51) and (12) , we get the coefficients of the Eq. (12) as
=
===
123 4
0cccc (52)
The result is very .....
Parallel Manipulators New Developments Part 16 pot
... Parallel Manipulators, New Developments
450
3.3 Vibrotactile pattern display
In this section, we investigate how vibrotaction, particularly at low frequencies ...
0.3 m
1
ϕ
0º
l
0.5 m
2
ϕ
120 º
d
max
0.4 m
3
ϕ
240º
s
max
0.2 m
Table 1. Architectural parameters of a 3-PCR TPM
Parallel Manipulators, New Developments
442
through the TRNCE ...
New 3-DOF...
Parallel Manipulators New Developments Part 2 pot
... of Parallel Manipulators
Ahmet Akbas
Marmara University
Turkey
1. Introduction
There are mainly two types of the manipulators: serial manipulators and parallel
manipulators. The serial manipulators ... (5)
W
new
= W
old
+ e p
T
(6)
Parallel Manipulators, New Developments
46
therefore we can use the Lie bracket in the matrix form:
BAABBA
−
=],[
. Then we ge...
Parallel Manipulators New Developments Part 3 pot
... Parallel Manipulators, New Developments
60
a) b) c)
Figure 3: 3-PRRR parallel mechanisms
A particular mechanism is thus described, in addition ... manipulator b) Diagram
Figure 4: Kinematic Composition of a Planar 3-RRR parallel manipulator
Parallel Manipulators, New Developments
64
making the computation useless outside the subspace. ... 0
2
≠m and 0=
2
m⋅
ω...
Parallel Manipulators New Developments Part 6 pot
... trajectory
Parallel Manipulators, New Developments
164
Heuristic Schedule Total Earliness and Tardiness Cost
SPT
M1: 1-4-5-7-10-8
M2: 2-3-6-9-11 -12
148,5
EDD
M1: 1-2-5-9-11-8 -12
M2: 3-6-4-7-10 ... obtained offsprings
Parallel Manipulators New Developments
152
von Zitzewitz, J., Duschau Wicke, A., Wellner, M., Lünenburger, L., and Riener, R. (2006).
Path...
Parallel Manipulators New Developments Part 7 potx
... three-degree-of-freedom spherical
parallel manipulators, Intl J. of Robotics Research, Vol.23, No.3, (March 2004) pp.237-
245, ISSN 0278-3649
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. Kinematic...
Parallel Manipulators New Developments Part 14 docx
...
shaping technique and the two-time scale control scheme, applied to parallel manipulators,
Parallel Manipulators, New Developments
408
right link in a counterclockwise direction. The pose ... A I
b
ρ
End Mass
ee
JM
a
v
τ
e
v
Parallel Manipulators, New Developments
390
Figure 11. Rotational joint displacements: 1.
θ
1
, 2.
θ
2
.
Figure 12. Translational join...
Parallel Manipulators New Developments Part 15 pdf
... surge ( x ), sway ( y ), and heave
Parallel Manipulators, New Developments
438
0123 456
-3
-2
-1
0
1
2
3
4
Roll Pitch Yaw
Angle errors [deg]
Time [sec]
0123 456
-2
-1
0
1
2
3
Surge Sway ... integration of
Parallel Manipulators, New Developments
428
This paper focus on a theoretical and experimental study to develop a task space based
robust nonlinear controlle...