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...

Ngày tải lên: 21/06/2014, 19:20

... 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,...

Ngày tải lên: 21/06/2014, 19:20

... 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 .....

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20