Parallel Manipulators Towards New Applications Part 6 doc

... 6- 6pp 6- 6p 6- 6 octahedron hexapod (6| ) (6| ) (6| ) (6| ) T,P S,P S,P P NP NP T,P T,P S,P P P NP 0,07 0,08 0 ,67 1,1 1,8 10,4 16 16 36 40 40 40 16 16 16 16 16 ... millimeter: B := [ [ 68 410/1000, 393588/1000, 2 364 59/1000 ], [ 375094/1000, -13 762 3/1000, 2 364 56/ 1000 ], [ 3 066 64/1000, -2 560 12/1000, 2 364 61/1000 ],...

Ngày tải lên: 12/08/2014, 02:20

... 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...

Ngày tải lên: 21/06/2014, 19:20

... 5 6, 6, 5, 5 6, 6, 6, 6, 5 6, 6, 6, 6, 6, 6 Number of Constraints m 3 2 1 0 Table 3. Mobility analysis summary Parallel Manipulators, Towards New Applications 412 (a) (b) Fig .6. ... 4-DOF 5-DOF 6- DOF R T US and U * R T S 7549 13, 778 15, 595 29, 463 P F US and P F U * S 15, 368 18, 224 14, 309 17, 265 UP V S and U * P V S 13, 263 93 86 6275 68 1...

Ngày tải lên: 21/06/2014, 19:20

... equation (47) is a 6 8 matrix. In order to obtain the 6 6 matrix, the constraint relations between )4,3,2,1(, =imf ii should be analyzed. Parallel Manipulators, Towards New Applications 428 ... evolution of these mechanisms, named Part 4, has been developed with the wish of reaching high speeds Parallel Manipulators, Towards New Applications 4 36 S i...

Ngày tải lên: 21/06/2014, 19:20

... solution of the DPA of 6- DOF UPS-PMs. The methods are sorted in chronological order Parallel Manipulators, Towards New Applications 166 where δt g =[δt 1,1 , δt 1,2 ,…,δt N ,6 ] T collects all ... machine frame modules of a generic six-degree-of-freedom parallel kinematic machine Parallel Manipulators, Towards New Applications 1 36 - the joint variables...

Ngày tải lên: 12/08/2014, 02:20

... workspace. 6. References D. Stewart,1 965 , ”A platform with 6 degrees of freedom”, Proc. of the Institution of mechanical engineers, Vol. 180 (Part 1, 15),pp. 371-3 86, 1 965 . E. F. Fichter,19 86, ”A ... Kaufman, pp. 205- 218. Steiner, J., 18 26 ,”Einige geometrische Betrachtungen.” J. reine angew. Math. 1, pp. 161 -184. Parallel Manipulators, Towards New Applications...

Ngày tải lên: 12/08/2014, 02:20

... ⎡ ⎤ ×××+×× ⎢ ⎥ = ⎢ ⎥ ⎢ ⎥ ×××+×× ⎣ ⎦   11 1 1 1 11 66 6 6 6 66 ( ) (( ) ( )) ()(( ) ()) TT TT ω l ω Rp l Rp ω l A ω l ω Rp l Rp ω l (20) ( ) =⋅× ⋅×  111 66 6 (), ,() ss diagBuω luω l (21) If the ... b T bb Ly Ll lc Llcy lLlcy Ll lcy Ly ≡− ≡+ − ≡+− ≡+− ≡+ − ≡− − b b b b b b (64 a) (64 b) (64 c) (64 d) (64 e) (64 f) (64 g) (64 h) (64 i) where L b and l b a...

Ngày tải lên: 12/08/2014, 02:20

... from the Austrian Library. Parallel Manipulators, Towards New Applications, Edited by Huapeng Wu p. cm. ISBN 978-3-90 261 3-40-0 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 Appl...

Ngày tải lên: 21/06/2014, 19:20

... lq   #   # ⋅= ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ = ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ = AA A A A A m l l l m q q q 6 2 1 6 2 1 (35) Parallel Manipulators, Towards New Applications 66 scenarios and optimized values of relative manipulability ... 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...

Ngày tải lên: 21/06/2014, 19:20

... millimeter: B := [ [ 68 410/1000, 393588/1000, 2 364 59/1000 ], [ 375094/1000, -13 762 3/1000, 2 364 56/ 1000 ], [ 3 066 64/1000, -2 560 12/1000, 2 364 61/1000 ], [ -3 066 64/1000, -255912/1000, 2 363 42/1000 ], ... general 6- 6 manipulator Parallel Manipulators, Towards New Applications 1 96 6. Solving the forward kinematics problem 6. 1 Solving the general 6- 6 T...

Ngày tải lên: 21/06/2014, 19:20