Optimization of 3-DoF Manipulators’ Parasitic Motion with the Instantaneous Restriction Space-Based Analytic Coupling Relation

Principal Screws and Full-Scale Feasible Instantaneous Motions of Some 3-DOF Parallel Manipulators

azerbaijans political development after the collapse of soviet union and implication on relation with the islamic republic of iran

در فصل اول این پایاین نامه در خصوص تاریخ کشور اذربایجان قبل و بعد از جدایی این کشور از ایران مورد بررسی قرار گرفته است ودر فصل دوم تحولات سیاسی این کشور بعد از 1991 و در واقع بعد از فروپاشی شوروی و دولتهایی که روی کار امدند در از جمله دولت ابولفضل ایلچی بیگ،دولت حیدر علی اف وبعد از او پسرش الهام علی اف و نگرش هرکدام از این دولتها به سیاسیت خارجی اذربایجان مورد اشاره قرار گرفته است.در ودر فصل سو...

A Study of the Instantaneous Centers of Rotation in Singularities of 3-dof Fully Parallel Planar Manipulators

ABSTRACT Finding singular configurations (singularities) of manipulators is obviously important, because these configurations are the ones where the instantaneous kinematics becomes indeterminate. In this paper, singularities of a three degree-of-freedom (DOF) fully parallel planar manipulator are analyzed with the aid of two Jacobian matrices which are expressed through instantaneous centers o...

Structure Synthesis of 6-DOF 3-3 Decoupled Parallel Manipulators

In parallel manipulator design, usual 6-DOF PMs, like the Stewart platform, suffer from the disadvantages of difficult forward kinematics, coupled motion, and small workspace, so that the motion planing and control become very complicated and difficult to be implemented in real application. Most of the PMs with lower mobility are over-constrained when assembly errors are considered [1]. Therefo...

Experimental investigation on position analysis of 3 – DOF parallel manipulators

Parallel manipulators (PMs) have been the subject of study, of much robotic research during the past three decades. A parallel manipulator (PM) is a closed loop kinematic chain mechanism, that is connected to the base via multiple independent chains. The scope of this research work is to perform the position analyses of the three degrees of freedom PMs (TRIPOD and TRI-GLIDE). The present work h...