منابع مشابه
Parallel Manipulators with Lower Mobility
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...
متن کاملMultiscale Manipulations with Multiple Parallel Mechanism Manipulators
While recent years have brought an explosive growth in new microelectromechanical system (MEMS) devices ranging from accelerometers, oscillators, micro optical components, to micro-fluidic and biomedical devices, our concern is now moving towards complex microsystems that combine sensors, actuators, computation and communication in a single micro device. It is widely expected that these devices...
متن کاملOn the Dynamics of Parallel Manipulators
This article study the dynamics of parallel manipulators. We first have a brief review and discussion on different dynamics formulations in literature(Newton-Euler, Direct Lagrangian, and Lagrange-D’Alembert formulation on the reduced system). Then we show the equivalence of these methods. Based on the concepts from differential manifold, we prove that away from configuration singularity, there...
متن کاملSymbolic Elimination for parallel manipulators
The forward kinematics problem of parallel robot consists in computing the position of a solid moving in the three-dimensional space with six points on it constrained to lie respectively on six given spheres. This problem can also be represented by a system of algebraic equations, and it is known to admit at most 40 complex solutions. Our approach consists in adding extra sensors, that give us ...
متن کاملMobility of Spatial Parallel Manipulators
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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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1992
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.10.696