Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators
نویسندگان
چکیده
منابع مشابه
Analysis and Design of 6-dof 6-prrs Parallel Manipulators
In this thesis, the class of parallel manipulators with six kinematic chains of type PRRS is analyzed. In this class, six linear actuators attached to the base control the six degrees of freedom of the mobile platform of the parallel manipulator. Six legs of constant length connect the mobile platform to the linear actuators through respectively spherical and universal
متن کاملModel-based control of a 6-dof electrohydraulic Stewart–Gough platform
In this paper, a novel model-based controller for a six Degree-of-Freedom (dof) electrohydraulic Stewart–Gough platform is developed. Dynamic models of low complexity are employed that describe the salient dynamics of the main electrohydraulic components. Rigid body equations of motion and hydraulics dynamics, including friction and servovalve models are used. The developed feedback controller ...
متن کاملSix component force-torque sensors using Gough-Stewart platform manipulators
The six-degrees-of-freedom GoughStewart platform manipulator is a promising alternate architecture for the mechanical design of a six component force-torque sensor. Two basic configurations of the Gough-Stewart platforms are used for the design of six component force-torque sensors. In an isotropic configuration, equal sensitivity for all the six components of the force and torque being measure...
متن کاملOn Stewart Gough manipulators with multidimensional self-motions
By means of bond theory, we study S G (SG) platforms with n-dimensional self-motions with n > 2. It turns out that only architecturally singular manipulators can possess these self-motions. Based on this result, we present a complete list of all SG platforms, which have n-dimensional self-motions. Therefore this paper also solves the famous B B problem for n-dimensional moti...
متن کاملCollision Free Path Planning for Multi-DoF Manipulators
Path planning is a very important issue in robotics. It has been widely studied for the last decades. This subject has gathered three interesting fields that were quite different in the past. These fields are robotics, artificial intelligence and control. The general problem of path planning consists of searching a collision free trajectory that drives a robot from an initial location (position...
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: Mechanism and Machine Theory
سال: 2016
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2016.08.010