Combinatorial classes of parallel manipulators
نویسندگان
چکیده
منابع مشابه
Combinatorial specification of permutation classes †
This article presents a methodology that automatically derives a combinatorial specification for the permutation class C = Av(B), given its basis B of excluded patterns and the set of simple permutations in C, when these sets are both finite. This is achieved considering both pattern avoidance and pattern containment constraints in permutations. The obtained specification yields a system of equ...
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This chapter focuses on the mobility analysis of spatial parallel manipulators. It first develops an analytical methodology to investigate the instantaneous degree of freedom (DOF) of the end-effector of a parallel manipulator. And then, the instantaneous controllability of the end-effector is discussed from the viewpoint of the possible actuation schemes which will be especially useful for the...
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High stiffness, low inertia, large accelerations, and high precision are desirable properties attributed to parallel kinematics machines (PKM). However, relatively small workspace and the abundance of singularities within the workspace partly annihilate the aforementioned advantages. Redundant actuation and novel redundant kinematics are means to tackle these shortcomings. Redundant parallel ki...
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In this paper, a systematic methodology for enumeration of the kinematic structures of parallel manipulators is presented. Parallel manipulators are classified into planar, spherical, and spatial mechanisms. The classification is followed by an enumeration of the kinematic structures according to the degrees of freedom and connectivity listing. In particular, a class of parallel manipulators wi...
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Parallel manipulators with lower mobility (LM-PMs) are multi-loop mechanisms with less than six degrees of freedom (dofs). This type of manipulators has attracted the attention both of academic researchers and of industries since the early appearance of the DELTA robot (Clavel 1988). The DELTA robot showed that, when the manipulation task requires less than six dofs, the use of an LM-PM may bri...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 1995
ISSN: 0094-114X
DOI: 10.1016/0094-114x(94)00069-w