OPTIMUM DESIGN OF 4-UPU PARALLEL ROBOT USING CONDITION NUMBER
نویسندگان
چکیده
منابع مشابه
Kinematics of the Spatial 3-upu Parallel Robot
Parallel robots are closed-loop structures presenting very good potential in terms of accuracy, stiffness and ability to manipulate large loads. One of the main bodies of the mechanism is fixed and is called the base, while the other is regarded as movable and hence is called the moving platform of the manipulator. Generally, the number of actuators is typically equal to the number of degrees o...
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Several articles have been published about the SNU 3-UPU parallel robot, since the prototype built at the Seoul National University (SNU) showed a rather unexpected behavior, being completely mobile although none of the prismatic joints was actuated. The main goal of this work is to describe all possible poses of the robot by a system of algebraic equations using Study parameters, such that the...
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Nowadays the use of the Switched Reluctance Motors (SRMs) has been considerably increased in various home and industrial applications. Despite of many advantages of this type of motors, such as simple structure, low cost, and high reliability, the main disadvantage of them is the generation of high torque pulsation. This paper presents a novel method to optimize a typical SRM such that the torq...
متن کاملDynamics of the Translational 3-upu Parallel Manipulator
Matrix relations for dynamics analysis of a spatial translational 3-UPU parallel mechanism are established in this paper. Three identical legs connect the moving platform by universal joints. Knowing the translation motion of the platform, inverse dynamics problem is solved using an approach based on explicit equations of parallel robots dynamics, but it has been verified the results in the fra...
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ژورنال
عنوان ژورنال: INTERNATIONAL JOURNAL OF INDUSTRIAL ENGINEERING RESEARCH AND DEVELOPMENT
سال: 2015
ISSN: 0976-6987,0976-6979
DOI: 10.34218/ijierd.6.2.2015.006