Parallel Manipulators Towards New Applications Part 3 pdf
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...
Parallel Manipulators Towards New Applications Part 1 pdf
... 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...
Parallel Manipulators Towards New Applications Part 7 pdf
...
⎪
⎩
⎪
⎨
⎧
−++−−=
++=++=++=
++=++=++=
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...
Parallel Manipulators Towards New Applications Part 18 pdf
... 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...
Parallel Manipulators Towards New Applications Part 6 pptx
... 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...
Parallel Manipulators Towards New Applications Part 8 potx
... ”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...
Parallel Manipulators Towards New Applications Part 9 pot
...
(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...
Parallel Manipulators Towards New Applications Part 10 pot
...
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...
Parallel Manipulators Towards New Applications Part 11 potx
... 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...
Parallel Manipulators Towards New Applications Part 13 ppt
... 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...