Stiffness of serial and quasi-serial manipulators: comparison analysis
نویسندگان
چکیده
منابع مشابه
Enhanced stiffness modeling of serial manipulators with passive joints
The chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints, which are widely used in parallel robotic systems. In contrast to previous works, the stiffness is evaluated for the loaded working mode corresponding to the static equilibrium of the elastic forces and the external wrench acting upon the manipulator end point. It is assumed that ...
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This article deals with the kinematics of serial manipulators. The serial manipulators are assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters. Two well-known problems in serial manipulator kinematics, namely the direct and inverse problems, are discussed and several examples are presented. The important concept of the workspace of a serial manipulator and the...
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A generic, or more properly 1-generic, serial manipulator is one whose forward kinematic mapping exhibits singularities of given rank in a regular way. In this paper, the product-ofexponentials formulation of a kinematic mapping together with the Baker–Campbell–Hausdorff formula for Lie groups is used to derive an algebraic condition for the regularity.
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On November 29th, 2002, Professor Lung-Wen Tsai died peacefully at his home in Riverside, CA. Dr. Tsai was a member of our faculty since 2000. Dr. Tsai’s research interests included robotics, mechanisms and machine theory, design methodology, automotive engineering, and microelectromechanical systems. He was a Fellow of ASME (American Society of Mechanical Engineers) and AAS (American Associati...
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The kinematic calibration is a procedure to improve the manipulator accuracy without mechanical means by acting on the manipulator controller. Although manipulators are composed by accurate mechanical components, the precision of their motion is affected by many sources of error (Mooring et al, 1991). The final position accuracy is mainly influenced by: kinematic inaccuracy (due to manufacturin...
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ژورنال
عنوان ژورنال: MATEC Web of Conferences
سال: 2016
ISSN: 2261-236X
DOI: 10.1051/matecconf/20167502003