Parallel Manipulators Towards New Applications Part 5 docx

... − ⎢⎥⎢⎥ ⎣⎦⎣⎦ ⎡⎤ −− − ⎢⎥ ⎢⎥ ⎢⎥ =− − − − ⎢⎥ ⎢ ⎢ −− − − ⎢ ⎣⎦ 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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... 6 & (33 ) Note that f p also has a trigonometric parametrization given by Proposition 3. = , p ij p ij p T f ij p ij ij p ij p S C S S C p S C C C C S S 2 3 2 3 2 3 2 3 3 2 3 2 ( ) * + * + * + * + * + . * + * + & ... 1986, 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...

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... Mechatronik, University Duisburg-Essen Parallel Manipulators, Towards New Applications 168 g 0.058 0 .61 7 0.558 0.010 0.557 0. 567 0 .67 8 0.289 0.390 0 .64 9 0.333 0.3 16 0.154 0.154 0.154 0.230 0.230 ... Güttler, J. (2005). Passive-joint sensors for parallel robots. Mechatronics, Vol. 15, 43 -65 Parallel Manipulators, Towards New Applications 164 Ja...

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... () () () iiii ii ii iiiii BB i BBB BBii BBii BBBBBii bFaFFbaFFFFdc FFFdcFFFdcCF FFFbFFaCC CbaCCCcCbCaCC ∗−∗−∗−+∗+∗−+−∗∗∗− −+∗∗∗−−+∗∗∗−= −+∗−∗−∗−∗= ∗∗∗−−∗∗−∗−∗−= 871 18 979 2 72 18 2 82 17 2 72 1 17 9 2 9 87 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 bb...

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... Morgan Kaufman, pp. 205- 2 18. Steiner, J., 182 6 ,”Einige geometrische Betrachtungen.” J. reine angew. Math. 1, pp. 161- 184 . Parallel Manipulators, Towards New Applications 212 3. Dimensional ... 88 . Fischer, P.J. & Daniel, R.W. (1992) Real time kinematics for a 6 dof telerobotic joystick. In Proceedings of RoManSy 9, Udine, pages 292 300. Parallel Manipulators...

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... 198 8; Zanganesh et al., 199 7) automated vehicles (Saha & Angeles, 199 1) and flexible mechanisms (Xi & Sinatra, 199 7). In this development, the Parallel Manipulators, Towards New Applications ... very rich literature (Fichter, 198 6; Sugimoto, 198 7; Do & Yang, 198 8; Geng et al., 199 2; Tsai, 2000; Hashimoto & Kimura, 198 9; Fijany & Bejezy, 199 1). Howev...

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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 ... criterion. Also, using a Parallel Manipulators, Towards New Applications 320 Merlet, J. P., (1995). Determination of the orientation workspace of parallel manipu...

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... 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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... analysis of a re-configurable parallel robot . Mechanisms and Machine Theory, 41, 2, (February 2006) pp. 191-211, 0094-114X. Parallel Manipulators, Towards New Applications 398 loop Equation ... pp. 30-34, 0018-9235. Parallel Manipulators, Towards New Applications 384 3. Module identification The module identification stage is the first and second part of...

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... -50 0 50 -50 0 50 0 10 20 30 40 50 x y z LCA -20 -15 -10 -5 0 5 10 15 -15 -10 -5 0 5 10 15 20 y x LCA Fig.19. H4 robot with linear complexes (a): 3D view (b): top view (b) (a) A Novel 4-DOF Parallel Manipulator H4 415 (b) ... architecture, an evolution of these mechanisms, named Part 4, has been developed with the wish of reaching high speeds Parallel Manipul...

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... 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 of ... induced Task Moment of Force (Nm) ∆ M (Nm) Parallel Manipulators, Towards New Applications 444 Bruyninckx, H. (1997). The 321-hexa: a fully parallel manipulator with...

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... 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 ....

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... 7. Translation and rotation simulation of the prototype Parallel Manipulators, Towards New Applications 500 For a 5-RRR (RR) parallel manipulator shown in Fig. 3, the movable and base ... 2"8057"+#,) E'"5')"4)20#+702);<) ! " " 4#D !0-,./0 @@ #n =) Parallel Manipulators, Towards New Applications 498 To improve flexibilit...

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... No. 4, 55 3 56 1. Innocenti, C. & Parenti-Castelli, V. (1994). Exhaustive Enumeration of Fully Parallel Kinematic Chains, ASME International Winter Annual Meeting DSC -55 -2, pp. 11 35- 1141, ... the partial derivative will yield the sought sensitivity. However, such a method for sensitivity analysis results in a model with a Parallel Manipulators, Towards New Applicati...

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