Parallel Manipulators Towards New Applications Part 13 pptx

... Jacobian analysis of limited-dof parallel manipulators. ASME Journal of Mechanical Design, Vol. 124, No. 2, pp. 254-258 Parallel Manipulators, Towards New Applications 442 All the simulations ... Parallel Manipulators, Towards New Applications 414 and accelerations (Nabat et al., 2005). A paper written by Nabat (Nabat et al., 2006) presented experimental res...

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... stiffness matrix of the Linapod. Parallel Manipulators, Towards New Applications 152 Baron, L. & Angeles, J. (2000a). The direct kinematics of parallel manipulators under joint- sensor ... & Güttler, J. (2005). Passive-joint sensors for parallel robots. Mechatronics, Vol. 15, 43-65 Parallel Manipulators, Towards New Applications 164 Jacobian J...

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

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... 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 Applications. I. Huapeng Wu ... controller architecture diagram. Parallel Manipulators Tow a rds N e w Ap pli c ations Parallel Manipulators, Towards New Appl...

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... simultaneous use of equations (13) and (15): ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎣ ⎡ ⋅ ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ = B P B B P B B rotP traP B P ω v I0 0I q )( )( (18) where Parallel Manipulators, Towards New Applications 72 separation ... this expression does not depend upon q or the particular geometric parameters ij 4 , ij x , ij y and ij 3 . Parallel Manipulators, Towards New Applications...

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... ⎪ ⎩ ⎪ ⎨ ⎧ −++−−= ++=++=++= ++=++=++= 2 2133 12312 3132 13 2133 12 2132 23 1133 2211 3323322231 2133 13321231112 3132 2122111 2 33 2 32 2 31 2 23 2 22 2 21 2 13 2 12 2 11 1 0,0,0 1,1,1 rrrrrrrrrrrrrrrrrr rrrrrrrrrrrrrrrrrr rrrrrrrrr (13) Six ... Parallel Manipulators with an Exact Algebraic Method 185 ()()() ()()() ()()()( )()() mm mf mf RR RR RR BBBBzzzzyyyyxxxxF BBzzyyxxBBF BB...

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... ”Determination of the workspace of 6-dof parallel manipulators , ASME Journal of Mechanical Design, Vol. 112, pp. 331-336. Parallel Manipulators, Towards New Applications 226 to the requirements ... Fig. 8: The Optimal DELTA robot for example 1. Parallel Manipulators, Towards New Applications 232 As further development the spatial parallel hybrid robot str...

Ngày tải lên: 21/06/2014, 19:20

... (kg⋅m2) Izz (kg⋅m2) Platform 3.983 0.068 0 .136 Leg 0.398 0.0474 - Table 2. Inertial parameters Parallel Manipulators, Towards New Applications 246 Newton-Euler formulation is used to model ... the leg axis is parallel to the z i axis of the local coordinate frame O i -x i y i z i . In the light of eq.(1), l i u can be expressed as Parallel Manipulators, Towa...

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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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