Parallel Manipulators New Developments Part 11 pdf

... 8.e Fig. 8. The results of HEXA parallel robot modeling with ANN for X,Y,Z axes and φ, ψ , θ angles, from 8-a to 8-f, respectively. Parallel Manipulators, New Developments 298 Hexel Corp., ... 2.9911e-004 0.9999 Ө 8.2568e-09 2.5947e-003 1 X 1.8501e-015 3.1252e-008 1 Table 3. The resulted errors of FKP modeling by test data with wave-net Parallel Manipulators,...

Ngày tải lên: 12/08/2014, 02:20

... Proceedings of the American Control Conference, pp. 110 7 -111 1, 0780349903, San Diego, USA, June 1999, IEEE Parallel Manipulators, New Developments 426 Toyama, T.; Shibukawa, T., Hattori, ... ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ + + + −= ∑ ∫ ∑ ∫ ∑ ∫ = = = r j jj r j jj r j jj ξdψcβηmβmlc ξdψcβηmβmlc ξdψcβηmβmlc V 1 333 2 33 1 222 2 22 1 111 2 11 1 5.0 5.0 5.0      ...

Ngày tải lên: 21/06/2014, 19:20

... Parallel Manipulators, New Developments 450 3.3 Vibrotactile pattern display In this section, we investigate how vibrotaction, particularly at low frequencies ... New 3-DOF Translational Parallel Manipulators Yangmin Li and Qingsong Xu University of Macau, P. R. China 1. Introduction In recent years, the progress in the development of parallel manipulators ... i ϕ...

Ngày tải lên: 21/06/2014, 19:20

... satisfied. Since the Parallel Manipulators, New Developments 478 useless. Thus, parallel robots with a total of six DOF are not necessary required here. Besides, a 6-DOF parallel robot usually ... designing a 3-PCR TPM. Parallel Manipulators, New Developments 474 8. Dexterity analysis Dexterity is an important issue for design, trajectory planning, and control...

Ngày tải lên: 21/06/2014, 19:20

... (5) W new = W old + e p T (6) Parallel Manipulators, New Developments 46 therefore we can use the Lie bracket in the matrix form: BAABBA − =],[ . Then we get 0= 1 Y  , 112 211 ],[],[],[= −− +++ iiiiii uYYuYYuYYY     , ... of Parallel Manipulators Ahmet Akbas Marmara University Turkey 1. Introduction There are mainly two types of the manipulators: serial...

Ngày tải lên: 21/06/2014, 19:20

... Parallel Manipulators, New Developments 60 a) b) c) Figure 3: 3-PRRR parallel mechanisms A particular mechanism is thus described, in addition ... manipulator b) Diagram Figure 4: Kinematic Composition of a Planar 3-RRR parallel manipulator Parallel Manipulators, New Developments 64 making the computation useless outside the subspace. ... where 0 2 ≠m and 0= 2...

Ngày tải lên: 21/06/2014, 19:20

... trajectory Parallel Manipulators, New Developments 164 Heuristic Schedule Total Earliness and Tardiness Cost SPT M1: 1-4-5-7-10-8 M2: 2-3-6-9 -11- 12 148,5 EDD M1: 1-2-5-9 -11- 8-12 M2: ... obtained offsprings Parallel Manipulators New Developments 152 von Zitzewitz, J., Duschau Wicke, A., Wellner, M., Lünenburger, L., and Riener, R. (2006). Path control: A...

Ngày tải lên: 21/06/2014, 19:20

... expressed as: riii BBB  += 1 for i=1,2,3 (5) where: iiiiiiiiiiiiiiiiii dadaaABa 4111 4111 1111 ˆˆˆ ) ˆˆ ( ˆˆ )( ˆ wwwwwwwωwB ×−=−×+=−×+= θθ      (6) iiri b 2 ˆ wB   = (7) ... three-degree-of-freedom spherical parallel manipulators, Intl J. of Robotics Research, Vol.23, No.3, (March 2004) pp.237- 245, ISSN 0278-3649 Parallel Manipulators, New Developments...

Ngày tải lên: 21/06/2014, 19:20

... and (14), the decomposition of f is: Parallel Manipulators, New Developments 338 = −⋅ − −(,45) (5,0,5). A C CRoty Trans (11) Equations (10) and (11) show the conversion matrix for arranging ... instantaneous motions of deficient-rank 3- RPS parallel manipulators. Mechanism and Machine Theory, Vol. 37, No. 2, 229-240. Parallel Manipulators, New Developments 336...

Ngày tải lên: 21/06/2014, 19:20

... Parallel Manipulators, New Developments 372 Huang, Z. (1985). Modeling Formulation of 6-DOF multi-loop Parallel Manipulators, Part- 1: Kinematic Influence Coefficients, ... are { } [ ] { } = =111 ,2,3 TT ii TiPa (41) The unit vectors u 1 , u 2 and u 3 representing revolute axes with respect to the fixed system are Parallel Manipulators, New Developments 374 ....

Ngày tải lên: 21/06/2014, 19:20