Parallel Manipulators Towards New Applications Part 1 pot

... Parallel Manipulators, Towards New Applications 8 adjusted pose, ∗ N , with the resulting actual pose, ∗ A , as measured by the SMS. For time step, (i -1) ** 11 1 ii i − −− =NX A (11 ) ... 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 Appl...

Ngày tải lên: 12/08/2014, 02:20

... − ⎢⎥⎢⎥ ⎣⎦⎣⎦ ⎡⎤ −− − ⎢⎥ ⎢⎥ ⎢⎥ =− − − − ⎢⎥ ⎢ ⎢ −− − − ⎢ ⎣⎦ 12 3 LL L 11 12 21 22 31 32 11 12 11 12 21 22 21 22 31 32 3 1 3 3 21 33 33 1 3 3 11 33 33 21 11 33 33 33 33 1 3 3 x y z xx yy z aQ aQ u baQaQ u haQ aQ ... γ = ⋅⋅ (3) the cable lengths can be expressed as 12 12 22 22 32 32 11 12 21 22 31 32 22 33 33 12 12 33 33 33 33 22 33 33 1 3 3 11 3...

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... Kaufman, pp. 205- 218 . Steiner, J., 18 26 ,”Einige geometrische Betrachtungen.” J. reine angew. Math. 1, pp. 16 1 -18 4. Parallel Manipulators, Towards New Applications 212 3. Dimensional ... Vol. 1, No. 1, pages 17 5 18 2. Merlet, J P. (19 87) Parallel manipulators, part1 : Theory; design, kinematics, dynamics and control. Technical report 646, INRIA, SophiaA...

Ngày tải lên: 21/06/2014, 19:20

... angle 12 0x200x15 mm³ / ±45° 16 0x400x15 mm³ / 18 0° Repeatability 2.6 µm 0.6 µm Table 4. Characteristics of the robots micabo f and micabo f2 Parallel Manipulators, Towards New Applications ... Ma, 19 88; Zanganesh et al., 19 97) automated vehicles (Saha & Angeles, 19 91) and flexible mechanisms (Xi & Sinatra, 19 97). In this development, the Parallel Mani...

Ngày tải lên: 21/06/2014, 19:20

... so as to produce: 11 21 31 x y z θ θ θ ⎡⎤ ⎡ ⎤ ⎢⎥ ⎢ ⎥ =Γ ⎢⎥ ⎢ ⎥ ⎢⎥ ⎢ ⎥ ⎣ ⎦ ⎣⎦       (30) Where 11 1 11 1 11 11 1 11 11 1 12 1 12 1 1 21 21 1 21 21 1 31 1 31 31 31 1 (cos ) (sin) 0 (( ) ... 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) 222 211 1 11 1 (cos )(sin)LyL L zL θ θ =− − +− (3) Parallel M...

Ngày tải lên: 21/06/2014, 19:20

... Theory 19 82, 11 7(2); 11 9 -13 2. Tsai, Y. C. and Soni, A.H., (19 81) . Accessible region and synthesis of robot arm. ASME J. Mech Des., 10 3: 803- 811 . Parallel Manipulators, Towards New Applications ... to the design variables are: 0,52<q 1min /b< ;1, 35 (12 ) q 1min =q 2min , q 1max =q 2max , q 1max =1, 6q 1min , q 2max =1, 6q 2min (13 ) Fig. 31. Flowchar...

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... Symmetrical Parallel Manipulators and Several Novel Manipulators. " International Journal of Robotics Research 21( 2) 13 1 -14 5. ! "#$#%%&%!'#()*+%#,-$./!0 -1# $2.!3& ;1! 4**%)5#,)-(.! & 6=A! D4):0#7"+#02)"#)4706)K,)"#)+8208)7+)H006)7'0)7E"474)+9)7'0)5'("#)7+);0)0G."?(/0#7)7+)7'0)7E"47) ;(4"4,) ......

Ngày tải lên: 12/08/2014, 02:20

... 4, 19 86, page numbers 3 -17 . Parallel Manipulators, Towards New Applications 60 1 2 = , = , i p i q x x x x 1 2 = , = , i p i q y y y y (32) and 1 2 2 2 2 2 2 1 2 3 4 5 6 1 1 1 1 1 ... R # ijij vu " " correspond to the th i strut in group j . Let ][= 12 1 1 211 1 m m nn uuuuuU " # " " # " " and ][= 12 1 1 211 1...

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... 1 [ 0.250, 0.886, 0.0] [-0 .12 6, 0 .18 0, 0.2] [0,0 ,1] 1. 25 1. 2 21 2 [-0.780, -0.4 21, 0.0] [-0.093, -0 .19 9, 0.2] [0,0 ,1] 1. 25 1. 2 21 3 [ 0.755, -0.465, 0.0] [ 0. 219 , 0. 019 , 0.2] [0,0 ,1] 1. 25 1. 2 21 ... 1. 2 21 4 [-0.250, 0.886, 0.0] [ 0 .11 5, 0 .16 4, 0.4] [0,0 ,1] 1. 70 1. 933 5 [-0.755, -0.465, 0.0] [-0 .19 9, 0. 017 , 0.4] [0,0 ,1] 1. 70 1. 933 6 [ 0...

Ngày tải lên: 21/06/2014, 19:20

... 1 2 13 2 12 2 11 7 −++= rrrF (15 ) 1 2 23 2 22 2 218 −++= rrrF (16 ) 1 2 33 2 32 2 319 −++= rrrF (17 ) 2 313 2 212 211 110 rrrrrrF + + = (18 ) 3 313 3 212 311 111 rrrrrrF + + = (19 ) 33233222 312 112 rrrrrrF + + = ... 10 52905 /10 000,-59 715 1 /10 00, -17 87 41/ 1000 ], [ -10 52905 /10 000,-597200 /10 00, -17 86 01/ 1000 ], [-569744 /10 00, 206972 /1...

Ngày tải lên: 21/06/2014, 19:20