Parallel Manipulators New Developments Part 5 pptx
Parallel Manipulators New Developments Part 5 pptx
... of the rotation angle at T = 0 .5 s.
Fig. 12(a) 1R2T example Fig. 12(b) 1R2T robot optimized for shown
desired PTP trajectory
Parallel Manipulators, New Developments
112
by m bilateral ... ([−0.0 15, 0.0 15] N, [−0.0 15,
0.0 15] N).
Fig. 10(a) Stiffness workspace of plain Fig. 10(b) Combined force equilibrium and
manipulator stiffness workspace of plain manipulato...
Parallel Manipulators New Developments Part 17 pptx
... (m)
Isotropic point
-0.1 -0. 05 0 0. 05 0.1
-0.1
-0. 05
0
0. 05
0.1
x (m)
y
(
m
)
-
0
.
1
3
7
1
4
-
0
.
1
7
4
2
9
-
0
.
2
1
1
4
3
-0.60143
-
0
.
5
8
2
8
6
-
0
.
5
6
4
2
9
-
0
.
5
4
5
7
1
(a) Three-dimensional ... and (54 ) in designing a 3-PCR TPM.
Parallel Manipulators, New Developments
474
8. Dexterity analysis
Dexterity is an important issue for design, trajec...
Parallel Manipulators New Developments Part 16 pot
... S3 S4 S5 Ave. Std.
Group1 97 .5 92 .5 85. 0 95. 0 92 .5 10.7 2.9
Group2 92 .5 100 77 .5 97 .5 75 13.4 4.0
Group3 62 .5 77 .5 80.0 72 .5 95. 0 20.6 10.7
Table 4. Experimental Results.
Parallel Manipulators, ...
environment.
Sample No. 1 2 3 4 5 6
0Hz 51 .4 72.9 55 .7 82.9 60.0 45. 7
1 Hz 55 .4 90.8 67.1 94.7 90 .5 94.7
Polygonal
Samples
3 Hz 70.7 90 .5 81.3 8...
Parallel Manipulators New Developments Part 2 pot
... Angeles, J. (20 05) . Modular and recursive kinematics
and dynamics for parallel manipulators. Multibody System Dynamics, Vol. 14, No.3-
4, Nov. 20 05, pp. 419- 455 , ISSN: 1384 -56 40, Springer
Spong, ... manipulator with revolute legs. Robotica, Vol. 15, No.04, Jule 1997,
pp. 3 85- 394, ISSN: 0263 -57 47, Cambridge University Press
Parallel Manipulators New Developments
2...
Parallel Manipulators New Developments Part 3 pot
... Vol. 10, No. 5,
October 1991, 439 -58 5, ISSN 0278-3649
Selig, J. M. (1996). Geometrical Methods in Robotics, Springer-Verlag, ISBN 0387947280, New
York
Parallel Manipulators, New Developments ... Parallel Manipulators, New Developments
60
a) b) c)
Figure 3: 3-PRRR parallel mechanisms
A particular mechanism is thus described, in addition ...
variable. In addit...
Parallel Manipulators New Developments Part 6 pot
... 13. 45
70 X 7 100 85 93 26.07 30.18 15. 68
80 X 8 100 96 108 32.09 39.43 17.13
90 X 8 100 119 134 39.01 51 .19 19.86
100 X 8 100 132 142 45. 15 63. 05 18.94
120 X 8 100 148 161 54 . 45 71. 45 19.73 ... 54 . 45 71. 45 19.73
150 X 8 100 176 183 62.22 76.39 22.12
170 X 8 100 189 202 70 .56 83 .55 24.28
200 X 8 100 217 230 81.30 90 .57 24.88
220 X 8 100 239 255 92.12 103.49 2...
Parallel Manipulators New Developments Part 7 potx
... ellipsoids at different poses (
α,β,γ
): (0°,0°,0°) (a),
(20°,20°, -5 ) (b), (40°,40°,10°) (c), (54 ° ,53 °,10°) (d)
Parallel Manipulators, New Developments
178
The kinematics of such machines has been ... three-degree-of-freedom spherical
parallel manipulators, Intl J. of Robotics Research, Vol.23, No.3, (March 2004) pp.237-
2 45, ISSN 0278-3649
Parallel Manipulators,...
Parallel Manipulators New Developments Part 12 ppt
... was included in
this work.
Parallel Manipulators, New Developments
324
wherein
•
[
]
6
3
56
2
56
1
55
3
45
2
45
1
4
$$$$$$J =
is the Jacobian of the parallel manipulator,
•
⎥
⎦
⎤
⎢
⎣
⎡
×
×
=
333
333
0I
I0
Δ
is ... two manipulators is 90◦ and the initial points of the end-effector are set
as (5, 0, 5) mm and ( 5, 0, 5) mm. Frame B is described by:
=
⋅−...
Parallel Manipulators New Developments Part 13 ppt
...
<< ×
5
0.01 652 56 5. 13 10h or
−×<<−
5
5.13 10 0.0 057 003h
<< ×
5
0.01312 15 4.28 10h or
−×<<−
5
4.28 10 0.0160208h
Real ellipse
>×
5
5.13 10h or <− ×
5
5.13 10h
5
10284 ... ×> .h or
5
10284 ×−< .h
Imaginary
ellipse
α
=×
5
5.13 10h or
γ
=− ×
5
5.13 10h
α
=×
5
4.28 10h or
γ
=− ×
5
4.28 10h
Dot ellipse
01 652 5600 057 0...
Parallel Manipulators New Developments Part 14 docx
... Developments
392
52 5 5 1 3
sin( )Mmg
θ
θβ
=
−− (A8)
2
55 5 5 5
M
m
g
I
=
+ (A9)
2
1 2 1 2 11 51 53 1 3
2( ) sin( )Rm g mg
ζζ
θ
ζ
θθθβ
=−+ −−
mg m g m g
ζ
ζθ
++ −+
11 2 1 2 51 1
[()]cos
... planar parallel
manipulators, Robotica, Vol. 18, No. 5, (September 2000) 56 9 -57 5.
Daniali, H.R.M.; Zsombor-Murray, P.J. & Angeles, J. (19 95) . Singularity analysi...