Parallel Manipulators Towards New Applications Part 6 pptx

... Mechatronik, University Duisburg-Essen Parallel Manipulators, Towards New Applications 168 g 0.058 0 .61 7 0.558 0.010 0.557 0. 567 0 .67 8 0.289 0.390 0 .64 9 0.333 0.3 16 0.154 0.154 0.154 0.230 0.230 ... Güttler, J. (2005). Passive-joint sensors for parallel robots. Mechatronics, Vol. 15, 43 -65 Parallel Manipulators, Towards New Applications 164 Ja...

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... (19 96) Experimental study on human grasping force. IEEE International Workshop on Robot and Human Communication. 19 96; pp. 280-285. Parallel Manipulators, Towards New Applications 462 for ... Res. 2000 Mar; 131(2):187-95. Parallel Manipulators, Towards New Applications 4 46 Kim, D.; Chung, W. & Youm, Y. (2000). Analytic jacobian of in -parallel manipu...

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... from the Austrian Library. Parallel Manipulators, Towards New Applications, Edited by Huapeng Wu p. cm. ISBN 978-3-90 261 3-40-0 1. Parallel Manipulators. 2. New Applications. I. Huapeng Wu ... controller architecture diagram. Parallel Manipulators Tow a rds N e w Ap pli c ations Parallel Manipulators, Towards New Appl...

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... lq   #   # ⋅= ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ = ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ = AA A A A A m l l l m q q q 6 2 1 6 2 1 (35) Parallel Manipulators, Towards New Applications 66 scenarios and optimized values of relative manipulability ... 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 (32) and 1...

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... millimeter: B := [ [ 68 410/1000, 393588/1000, 2 364 59/1000 ], [ 375094/1000, -13 762 3/1000, 2 364 56/ 1000 ], [ 3 066 64/1000, -2 560 12/1000, 2 364 61/1000 ], [ -3 066 64/1000, -255912/1000, 2 363 42/1000 ], ... general 6- 6 manipulator Parallel Manipulators, Towards New Applications 1 96 6. Solving the forward kinematics problem 6. 1 Solving the general 6- 6 T...

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... ”Determination of the workspace of 6- dof parallel manipulators , ASME Journal of Mechanical Design, Vol. 112, pp. 331-3 36. Parallel Manipulators, Towards New Applications 2 26 to the requirements of ... 66 10 Bd Pierre et Marie Curie, BP 30179,Futuroscope 869 62 Chasseneuil 2 Tunisia 1 , France 2 1. Introduction Parallel manipulators have numerous advantages...

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... ⎡ ⎤ ×××+×× ⎢ ⎥ = ⎢ ⎥ ⎢ ⎥ ×××+×× ⎣ ⎦   11 1 1 1 11 66 6 6 6 66 ( ) (( ) ( )) ()(( ) ()) TT TT ω l ω Rp l Rp ω l A ω l ω Rp l Rp ω l (20) ( ) =⋅× ⋅×  111 66 6 (), ,() ss diagBuω luω l (21) If the ... choose an suitable constant, namely = Mr0 (67 ) Parallel Manipulators, Towards New Applications 2 36 2 .6 Results of the development of size-adapted parallel...

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... pp. 63 - 76, ISSN: 0278- 364 9 Hervé, J. M. (19 86) . Device for counter-balancing the forces due to gravity in a robot arm, United States Patent, 4 ,62 0,829 Parallel Manipulators, Towards New Applications ... 1 2 []()() 21 24 64 mmmy Tmmm xz L θ =++ + +++     (14) Figure 7: Schematic diagram of the second limb for the dynamic analysis. Parallel Manipulators,...

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... 0 50 100 150 0 50 100 150 0.4 0.5 0 .6 0.7 0.8 Übertragungsgüte MA X= 0 .65 8553 MIN= 0.427955 MWT= 0.503084 0.44 0. 46 0.48 0.5 0.52 0.54 0. 56 0.58 0 .6 0 .62 0 .64 Fig. 29. Transmission quality index for RPRPR Bipod Parallel ... grid. Parallel Manipulators, Towards New Applications 2 96 Furthermore, a genetic algorithm is proposed as the principle optimization to...

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... Fig.12. Parallel Manipulators, Towards New Applications 3 76 Fig.13 Off-line teaching welding results Fig.14 On-line tracking welding results Parallel Manipulators, Towards New Applications ... (i = 1, 2, … ,6) , (9) where ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎣ ⎡ − −+ +− = γβγββ γαγβαγαγβαβα γαγβαγαγβαβα ccscs sccssccssscs sscsccsssccc R , Parallel Manipulators, Towards...

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