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 ... Feasible Human-Spine Motion Simulators Based on Parallel Manipulators 503 platform to guarantee the parallelism. The axis of R 4 is perpendicular to that of R 3 ....

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎣ ⎡ ⋅ ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = 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 angles between points B 1 and B 6 , B 2 ... 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 F...

Ngày tải lên: 21/06/2014, 19:20

... () () () iiii ii ii iiiii BB i BBB BBii BBii BBBBBii bFaFFbaFFFFdc FFFdcFFFdcCF FFFbFFaCC CbaCCCcCbCaCC ∗−∗−∗−+∗+∗−+−∗∗∗− −+∗∗∗−−+∗∗∗−= −+∗−∗−∗−∗= ∗∗∗−−∗∗−∗−∗−= 87 1189 79 2 7 218 2 8217 2 72117 9 2 987 2 8 2 7 2 1222 22 22 2 (36) Parallel Manipulators, Towards New Applications 190 ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎜ ⎝ ⎛ = 1 22 11 0101 00 00 00 00 0000 ba bbaa bbaa bbaa...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... Rawlins), Morgan Kaufman, pp. 205- 218. Steiner, J., 182 6 ,”Einige geometrische Betrachtungen.” J. reine angew. Math. 1, pp. 161 -184 . Parallel Manipulators, Towards New Applications 212 3. Dimensional ... differences are: • GAs search a population of points in parallel, not a single point. Parallel Manipulators, Towards New Applications 218 In our case,...

Ngày tải lên: 21/06/2014, 19:20

... mm³ / ±45° 160x400x15 mm³ / 180 ° Repeatability 2.6 µm 0.6 µm Table 4. Characteristics of the robots micabo f and micabo f2 Parallel Manipulators, Towards New Applications 238 For use ... 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 st...

Ngày tải lên: 21/06/2014, 19:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 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 par...

Ngày tải lên: 21/06/2014, 19:20

... 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 ... Self-recovering ability 0 ~180 ° Maximum climbing velocity 180 mm/s Maximum unchangable working time 4 hours Table 1. Performance specifications Parallel Manip...

Ngày tải lên: 21/06/2014, 19:20