Parallel Manipulators Towards New Applications Part 11 potx

... 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 ... performance criterion. Also, using a Parallel Manipulators, Towards New Applications 320 Merlet, J. P., (1995). Determination of the orientation workspace of paral...

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... ”Determination of the workspace of 6-dof parallel manipulators , ASME Journal of Mechanical Design, Vol. 112 , pp. 331-336. Parallel Manipulators, Towards New Applications 226 to the requirements ... Fig. 8: The Optimal DELTA robot for example 1. Parallel Manipulators, Towards New Applications 232 As further development the spatial parallel hybrid robot s...

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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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... home configuration. Fig. 11. Minimal eigenvalue λ min [10 7 Nm -1 ] of the stiffness matrix of the Linapod. Parallel Manipulators, Towards New Applications 152 Baron, L. & ... & Güttler, J. (2005). Passive-joint sensors for parallel robots. Mechatronics, Vol. 15, 43-65 Parallel Manipulators, Towards New Applications 164 Jacobian J g ....

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... 1 2 13 2 12 2 117 −++= rrrF (15) 1 2 23 2 22 2 218 −++= rrrF (16) 1 2 33 2 32 2 319 −++= rrrF (17) 23132212 2111 10 rrrrrrF + + = (18) 33133212 3111 11 rrrrrrF + + = (19) 3323322231 2112 rrrrrrF + + = ... () () () iiii ii ii iiiii BB i BBB BBii BBii BBBBBii bFaFFbaFFFFdc FFFdcFFFdcCF FFFbFFaCC CbaCCCcCbCaCC ∗−∗−∗−+∗+∗−+−∗∗∗− −+∗∗∗−−+∗∗∗−= −+∗−∗−∗−∗= ∗∗∗−−∗∗−∗−∗−= 8 71...

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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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... limb. y= L 1 cos θ 11 +L 2 cos θ 12 +L (1) z= L 1 sin θ 11 +L 2 sin θ 12 (2) 222 2111 111 (cos )(sin)LyL L zL θ θ =− − +− (3) Parallel Manipulators, Towards New Applications 284 ... and 29 are rearranged so as to produce: 11 21 31 x y z θ θ θ ⎡⎤ ⎡ ⎤ ⎢⎥ ⎢ ⎥ =Γ ⎢⎥ ⎢ ⎥ ⎢⎥ ⎢ ⎥ ⎣ ⎦ ⎣⎦       (30) Where 111 111 11 11 1 11 11 1 121 121 1 21 21 1...

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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 ... development towards a heavy-duty waterhydraulic welding/cutting robot in Book: Mechatronics for Safety, Security and Dependability in a New Era. Elsevier. Par...

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... analysis of a re-configurable parallel robot . Mechanisms and Machine Theory, 41, 2, (February 2006) pp. 191- 211, 0094 -114 X. Parallel Manipulators, Towards New Applications 398 loop Equation ... rotation about ()( ) [] ( ) ( ) [ ] 2444333122 2111 vuBAuBAvuBAuBA × × × × × × × ×× . When the two revolute joints Parallel Manipulators, Towards New Applications...

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