Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator With High-Load Carrying Capacity
نویسندگان
چکیده
منابع مشابه
Design and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملOptimal Trajectory of Flexible Manipulator with Maximum Load Carrying Capacity
In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...
متن کاملdesign and kinematic analysis of a 4-dof serial-parallel manipulator for a driving simulator
this paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. the degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملRobust Control of a High Precision 4-DOF Parallel Manipulator
A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...
متن کاملTRIFLEX: Design and Prototyping of a 3-DOF Variable-Configuration Parallel Manipulator with Self-Aligning
This paper presents the design and prototyping of a fully decoupled 3-DOF variable-configuration parallel manipulator with self-aligning called TRIFLEX. This parallel manipulator can change their form to carry out different tasks in different places, this change is managed by additional self-aligning degrees-of freedom. These degrees-of-freedom of self-aligning do not interfere in the motion of...
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: Journal of Mechanical Design
سال: 2008
ISSN: 1050-0472,1528-9001
DOI: 10.1115/1.2991137