Parallel Manipulators Towards New Applications Part 13 ppt

... 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. P...

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... stiffness matrix of the Linapod. Parallel Manipulators, Towards New Applications 152 Baron, L. & Angeles, J. (2000a). The direct kinematics of parallel manipulators under joint- sensor ... & Güttler, J. (2005). Passive-joint sensors for parallel robots. Mechatronics, Vol. 15, 43-65 Parallel Manipulators, Towards New Applications 164 Jacobian J...

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... Brain Res. 2000 Mar; 131 (2):187-95. Parallel Manipulators, Towards New Applications 446 Kim, D.; Chung, W. & Youm, Y. (2000). Analytic jacobian of in -parallel manipulators. Proceedings ... induced Task Moment of Force (Nm) ∆ M (Nm) Parallel Manipulators, Towards New Applications 444 Bruyninckx, H. (1997). The 321-hexa: a fully parallel manipulator...

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... from the Austrian Library. Parallel Manipulators, Towards New Applications, Edited by Huapeng Wu p. cm. ISBN 978-3-902 613- 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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... simultaneous use of equations (13) and (15): ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎣ ⎡ ⋅ ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = B P B B P B B rotP traP B P ω v I0 0I q )( )( (18) where Parallel Manipulators, Towards New Applications 72 separation ... 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...

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... ⎪ ⎩ ⎪ ⎨ ⎧ −++−−= ++=++=++= ++=++=++= 2 2133 12312 3132 13 2133 12 2132 23 1133 2211 3323322231 2133 13321231112 3132 2122111 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 ... Parallel Manipulators with an Exact Algebraic Method 185 ()()() ()()() ()()()( )()() mm mf mf RR RR RR BBBBzzzzyyyyxxxxF BBzzyyxxBBF BB...

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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 str...

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... (kg⋅m2) Izz (kg⋅m2) Platform 3.983 0.068 0 .136 Leg 0.398 0.0474 - Table 2. Inertial parameters Parallel Manipulators, Towards New Applications 246 Newton-Euler formulation is used to model ... 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, Towa...

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... 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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... 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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