منابع مشابه
On the design of reactionless 3-DOF planar parallel mechanisms
A reactionless machine will not apply reaction forces and moments on the mounting base during motion. This article presents the theory for design of a reactionless planar parallel mechanism. The salient features of this design are: (i) it uses auxiliary parallelograms to locate the center of mass of each leg at the base, (ii) choice of geometric and inertial parameters to satisfy the reactionle...
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The static balancing of spherical three-degree-of-freedom (DoF) parallel mechanisms and manipulators is addressed in this paper. Static balancing is defined here as the set of conditions on mechanism dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any torque (or force) at the actuators for any configuration of the mechanism, under ...
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This paper presents the results of a systematic study of the singular configurations of 3-DOF planar parallel mechanisms with three identical serial chains. Only prismatic and revolute kinematic pairs are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined; the nature of all possible singular configurations are discussed an...
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متن کاملExperimental 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...
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ژورنال
عنوان ژورنال: Chinese Science Bulletin
سال: 2017
ISSN: 0023-074X
DOI: 10.1360/n972015-01228