Acceleration Analysis of 3DOF Parallel Manipulators
نویسندگان
چکیده
منابع مشابه
Analysis of the Acceleration Characteristics of Manipulators
Characterizing the acceleration properties at the end e ector is crucial for the analysis design and control of robot manipulators In previous e orts aimed at addressing this problem the end e ector acceleration has been treated as a vector combining both the linear and angular accelerations The methodology presented in this article provides characterizations of these two di erent types of ac c...
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According to the notation proposed by the International Federation for the Theory of Mechanisms and Machines IFToMM (Ionescu, 2003); a parallel manipulator is a mechanism where the motion of the end-effector, namely the moving or movable platform, is controlled by means of at least two kinematic chains. If each kinematic chain, also known popularly as limb or leg, has a single active joint, the...
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This report develops a systematic approach for determining the acceleration capability and the acceleration properties of the end-effector of a planar two degree-of-freedom manipulator. The acceleration of the end-effector at a given configuration of the manipulator is a linear function of the actuator torques and a (nonlinear) quadratic function of the "joint-velocities. By decomposing the fun...
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As we all know, singularity is commonly encountered in parallel mechanisms. It is shown that the behavior of singularity of parallel mechanisms could be more complicated than that of serial ones. However, it is not very clear whether singularity will bring problems to kinematics, dynamics or other characteristics and what result will be caused when parallel mechanisms fall into the neighborhood...
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ژورنال
عنوان ژورنال: Global Journal of Researches in Engineering
سال: 2013
ISSN: 2249-4596,0975-5861
DOI: 10.34257/gjreavol12is7pg31