Kinematics of a single-section parallel «dodekapod» manipulator

نویسندگان

چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Forward Position Kinematics of a Parallel Manipulator with New Architecture

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

متن کامل

Forward and inverse kinematics of a hybrid series-parallel manipulator

In this paper, the forward and inverse kinematic relations of a hybrid 6-DOF robotic manipulator, named the H6AR, are presented. The H6AR consists of twin 2-DOF anthropomorphic arms that can move in the vertical plane. These arms are connected, at one end, to a 1-DOF waist and constrained, at the other end, by a novel wrist assembly. The wrist contains an actuator only for the pitching motion a...

متن کامل

Forward Kinematics Analysis of a 3-PRS Parallel Manipulator

In this article the homotopy continuation method (HCM) to solve the forward kinematic problem of the 3-PRS parallel manipulator is used. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is ...

متن کامل

Singular configurations and direct kinematics of a new parallel manipulator

We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.

متن کامل

A Novel 3T1R Parallel Manipulator 2PaRSS and Its Kinematics

By using the topological structure synthesis theory and method based on POC (Position and Orientation Characteristic) equations,a novel 4-DOF 3T1R parallel manipulator (PM) with low coupling degree, 2PaRSS, is presented.First,the modeling and numerical solutions for forward and inverse position of the PM is established. Then, the workspace and rotation capacity of the PM are analyzed based on i...

متن کامل

ذخیره 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: Science and Education of the Bauman MSTU

سال: 2013

ISSN: 1994-0408

DOI: 10.7463/0213.0539000