Asymmetric reconfiguration of a 3-dof parallel manipulator
نویسندگان
چکیده
منابع مشابه
Mechatronic design of a 3-DOF parallel translational manipulator
This paper presents the development steps of a fast manipulator, up to the building of the experimental device, in a context of mechatronic design which implies the integration of several engineering disciplines. High performance of the manipulator has been achieved by means of the suitable integration of the mechanical part and the drive part. For the mechanical part we choose a 3-dof parallel...
متن کاملDesign Optimization of a 3 DOF Translational Parallel Manipulator
This paper presents an optimal kinematic design of a 3PRC (prismatic-revolute-cylindrical) spatial translational parallel manipulator with inclined actuator arrangement by formulating a multi-objective optimization problem. Three performance criteria’s namely Global Conditioning Index (GCI), Global stiffness Index (GSI) and Workspace volume are considered as the objective functions. A multi-obj...
متن کاملCOORDINATE INFLUENCE ON SINGULARITY OF A 3-UPS PARALLEL MANIPULATOR
This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...
متن کاملTracking control of parallel manipulator with 3-DOF
A parallel three degrees of freedom (3-DOF) manipulator known as Maryland manipulator is considered in this paper. The manipulator model considered in this paper is more practical because the offset lengths are not taken zero. The trajectory tracking control of the Maryland manipulator is done using linear–quadratic regulator (LQR) based proportional–integral–derivative (PID) controller. Three ...
متن کاملDynamic Model of a 3-dof Asymmetric Parallel Mechanism
Most research papers about parallel kinematic chain mechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may o...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Nexo Revista Científica
سال: 2020
ISSN: 1995-9516,1818-6742
DOI: 10.5377/nexo.v33i01.10053