منابع مشابه
The topology of singularities of flagged parallel manipulators
The spatial parallel manipulator can abstractly be described as two bodies, base and platform, joined by six segments (or legs) of variable lengths. The configuration space which describes all possible platform locations with respect to the base is R×SO3(R) the Euclidean motion group. It is a differentiable manifold of dimension 6, and this is why the platform and the base are joined by six leg...
متن کاملParallel 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 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...
متن کاملRedundant Actuation of Parallel Manipulators
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...
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: IEEE Transactions on Robotics
سال: 2007
ISSN: 1552-3098
DOI: 10.1109/tro.2007.903819