Parallel Manipulators Towards New Applications Part 3 pdf

... 6 & (33 ) Note that f p also has a trigonometric parametrization given by Proposition 3. = , p ij p ij p T f ij p ij ij p ij p S C S S C p S C C C C S S 2 3 2 3 2 3 2 3 3 2 3 2 ( ) * + * + * + * + * + . * + * + & ... 1986, page numbers 3- 17. Parallel Manipulators, Towards New Applications 60 1 2 = , = , i p i q x x x x 1 2 = , = , i p i q y y y y...

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... z x y RRRR γ θφ φ θ γ = ⋅⋅ (3) the cable lengths can be expressed as 12 12 22 22 32 32 11 12 21 22 31 32 22 33 33 12 12 33 33 33 33 22 33 33 1 3 3 11 33 33 1 3 3 xx yy zz x y z baQ u baQ u baQu ... − ⎢⎥ ⎢⎥ ⎢⎥ =− − − − ⎢⎥ ⎢ ⎢ −− − − ⎢ ⎣⎦ 12 3 LL L 11 12 21 22 31 32 11 12 11 12 21 22 21 22 31 32 3 1 3 3 21 33 33 1 3 3 11 33 33 21 11 33 33 33 33...

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... ⎪ ⎩ ⎪ ⎨ ⎧ −++−−= ++=++=++= ++=++=++= 22 133 1 231 231 32 132 133 122 132 231 133 2211 33 233 22 231 2 133 133 21 231 11 231 322122111 2 33 2 32 2 31 2 23 2 22 2 21 2 13 2 12 2 11 1 0,0,0 1,1,1 rrrrrrrrrrrrrrrrrr rrrrrrrrrrrrrrrrrr rrrrrrrrr ( 13) Six ... 1 2 23 2 22 2 218 −++= rrrF (16) 1 2 33 2 32 2 31 9 −++= rrrF (17) 231 32212211110 rrrrrrF + + = (18) 33...

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... Lower-Mobility Symmetrical Parallel Manipulators and Several Novel Manipulators. " International Journal of Robotics Research 21(2) 131 -145. Parallel Manipulators, Towards New Applications 504 ... Human-Spine Motion Simulators Based on Parallel Manipulators 5 03 platform to guarantee the parallelism. The axis of R 4 is perpendicular to that of R 3 . Five...

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... Parallel Manipulators, Towards New Applications 168 g 0.058 0.617 0.558 0.010 0.557 0.567 0.678 0.289 0 .39 0 0.649 0 .33 3 0 .31 6 0.154 0.154 0.154 0. 230 0. 230 0. 230 0.905 2. 130 1.220 0.1 03 ... & Güttler, J. (2005). Passive-joint sensors for parallel robots. Mechatronics, Vol. 15, 43- 65 Parallel Manipulators, Towards New Applications 164 Jacobia...

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... ”Determination of the workspace of 6-dof parallel manipulators , ASME Journal of Mechanical Design, Vol. 112, pp. 33 1 -33 6. Parallel Manipulators, Towards New Applications 226 to the requirements ... displacement analysis of general six-in -parallel SPS (Stewart) platform manipulators using soma coordinates. Mechanism and Machine Theory, Vol. 31 , NO. 3, pages 33...

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... (kg⋅m2) Izz (kg⋅m2) Platform 3. 9 83 0.068 0. 136 Leg 0 .39 8 0.0474 - Table 2. Inertial parameters Parallel Manipulators, Towards New Applications 246 Newton-Euler formulation is used ... 1 [, ] ipip =T1ET (33 ) The second term in eqs.(29) and (30 ) can also be expressed in terms of  s =   2 s ii i s uTs (34 ) Parallel Manipulators, Towards New Ap...

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... 31 31 ()2 dL B dt θ θ ∂ = ∂   , 31 0 L θ ∂ = ∂ 3 3 1 31 31 31 () ( ) i i i fdL L Q dt λ θθ θ = ∂∂∂ − =+ ∂∂ ∂ ∑  31 3 2B θ λ =  (33 ) Rearrangement of equations 31 , 32 , and 33 produces: 11 11 1 21 21 2 31 3 cos 2sin 0 BC θ θλ θ θλ θ λ ⎡⎤ − ⎡ ⎤⎡ ... L Q dt z z z λ = ∂∂∂ − =+ ∂∂ ∂ ∑  13 1 23 2 33 3 2 z Az E F λ λλ − −Γ −Γ −Γ =  (38 ) Rearrangem...

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... 117(2); 119- 132 . Tsai, Y. C. and Soni, A.H., (1981). Accessible region and synthesis of robot arm. ASME J. Mech Des., 1 03: 8 03- 811. Parallel Manipulators, Towards New Applications 31 2 In the ... quality index for RPRPR Bipod Parallel Kinematic Machine Parallel Manipulators, Towards New Applications 31 8 be completely lost if it leads to new collision...

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... Fig.12. Parallel Manipulators, Towards New Applications 37 6 Fig. 13 Off-line teaching welding results Fig.14 On-line tracking welding results Parallel Manipulators, Towards New Applications ... Cybernetics, pp. 145-150, ISBN: 0-78 03- 7 437 -1, Yasmine Hammamet, Tunisia, October 2002, IEEE Service Center, Piscataway Parallel Manipulators, Towards Ne...

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