Parallel Manipulators Towards New Applications Part 10 pot

... joints are passive) 11 11 1 2cosBC θ θλ − =  (31) Parallel Manipulators, Towards New Applications 272 Figure 2: Spatial 3-PRRR parallel manipulator. 2.3.1 The first limb A schematic ... the best Parallel Manipulators, Towards New Applications 270 Actuation of the platform is typically accomplished by changing the lengths of the limbs. Although these...

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... 410, Kluwer. C. Gosselin,1990, ”Determination of the workspace of 6-dof parallel manipulators , ASME Journal of Mechanical Design, Vol. 112, pp. 331-336. Parallel Manipulators, Towards New ... Fig. 8: The Optimal DELTA robot for example 1. Parallel Manipulators, Towards New Applications 232 As further development the spatial parallel hybrid robot structure mic...

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... an suitable constant, namely = Mr0 (67) Parallel Manipulators, Towards New Applications 236 2.6 Results of the development of size-adapted parallel and hybrid robot structures In the ... the leg axis is parallel to the z i axis of the local coordinate frame O i -x i y i z i . In the light of eq.(1), l i u can be expressed as Parallel Manipulators, Towards N...

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... quality index for RPRPR Bipod Parallel Kinematic Machine Parallel Manipulators, Towards New Applications 318 be completely lost if it leads to new collision in parts of it which are absolutely ... supporting Parallel Manipulators, Towards New Applications 310 b) for + ∞<<∞− y , there exist two regions of the workspace Fig. 19. The workspace of the...

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... from the Austrian Library. Parallel Manipulators, Towards New Applications, Edited by Huapeng Wu p. cm. ISBN 978-3-902613-40-0 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 Applic...

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... this expression does not depend upon q or the particular geometric parameters ij 4 , ij x , ij y and ij 3 . Parallel Manipulators, Towards New Applications 56 Following is the summary ... involving multiple failures. In particular, weights can be assigned to relative manipulability indices corresponding to multiple failure Parallel Manipulators, Towards New Appl...

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... λ min [10 7 Nm -1 ] of the stiffness matrix of the Linapod. Parallel Manipulators, Towards New Applications 152 Baron, L. & Angeles, J. (2000a). The direct kinematics of parallel manipulators ... are 1 n j j= = ∑ W W , (10. 3) 1 1 n ii jj j − = ′ − = ∑ WWbb b , (10. 4) 1 1 n iii jj j δ δ − = ′ − = ∑ W vvv , (10. 5) Parallel Manipulators, Towards Ne...

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... 68 410/ 1000, 393588 /100 0, 236459 /100 0 ], [ 375094 /100 0, -137623 /100 0, 236456 /100 0 ], [ 306664 /100 0, -256012 /100 0, 236461 /100 0 ], [ -306664 /100 0, -255912 /100 0, 236342 /100 0 ], [ -375057 /100 0, ... -137509 /100 0, 236464 /100 0 ], [ -68228 /100 0, 393620 /100 0, 236400 /100 0 ]]: A := [ [ 464141 /100 0, 389512 /100 0, -178804 /100 0 ], [ 569471 /100 0, 207131...

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... Fig.12. Parallel Manipulators, Towards New Applications 376 Fig.13 Off-line teaching welding results Fig.14 On-line tracking welding results Parallel Manipulators, Towards New Applications ... Manipulators, Towards New Applications 368 T c =T 1 ·T 2 · T 3 ·T 4 ·T 5 , (2) where ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ = 100 0 100 010 001 1 1 1 1 Z Y X T...

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... analysis of a re-configurable parallel robot . Mechanisms and Machine Theory, 41, 2, (February 2006) pp. 191-211, 0094-114X. Parallel Manipulators, Towards New Applications 398 loop Equation ... U S P/R P/R P/R U S (a) (b) Fig.7 Asymmetrical design of H4 Parallel Manipulators, Towards New Applications 410 B i1 B i2 , respectively. Note A i1 B i1 =A...

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