نتایج جستجو برای: decoupled parallel manipulator

تعداد نتایج: 239608  

Journal: :international journal of robotics 0
hamid-reza mohammadi daniali babol university of technology mir amin hosseini babol university of technology

this work intends to deal with the optimal kinematic synthesis problem of tricept parallel manipulator. observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. the effectiveness of a workspace is characterized by the dexterity of the manip...

2001
Yan Li Gary M. Bone

The energy efficiency of a robotic manipulator is important, particularly when that manipulator is used in conjunction with a mobile robot with limited battery life. In this paper the energy efficiency (in terms of the electrical energy usage) of a spatial three DOF parallel manipulator is compared to a serial manipulator with the same drive motors and a similar workspace. The effects of endeff...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

2001
Erika Ottaviano Clément Gosselin Marco Ceccarelli

CaPaMan (Cassino Parallel Manipulator) is a threedegree of freedom parallel mechanism that has been designed and built at Laboratory of Robotics and Mechatronics in Cassino. In this paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It will be shown that a formulation can ...

1998
Yong Kyu Byun Hyung Suck Cho Whee Kuk Kim Sang-Eun Baek Heung-Sung Chang Kwang-Choon Ro

In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is peiformed and its dynamic characteristics is examined via the isotropic characteristics of the output ...

2007
KUN YU Venkat Krovi

............................................................................................................................. iii Acknowledgements............................................................................................................ iv List of Figures and Tables.................................................................................................. ix

1992
Nicolas Mouly Jean-Pierre Merlet

We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.

2010
Nicolas Binaud Stéphane Caro Shaoping Bai Philippe Wenger

In this paper, 3-PPR planar parallel manipulators with ∆or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex qua...

2002
Sébastien Krut Olivier Company Frédéric Marquet François Pierrot

Twice (Tilting device with WIde Capacity) a new amplification device able to double the tilting angle of a parallel mechanism is presented. A singularity analysis is carried out: it proves that Twice can give a huge tilting angle to Parallel Kinematic Machines (PKM). Finally, practical implementation features are discussed.

Journal: :I. J. Robotics Res. 2013
Volkert van der Wijk Sébastien Krut François Pierrot Just L. Herder

Shaking forces and shaking moments in high speed parallel manipulators are a significant cause of base vibrations. These vibrations can be eliminated by designing the manipulator to be shaking-force balanced and shaking-moment balanced. In this article an approach for the design and for the evaluation of high speed dynamically balanced parallel manipulators is presented and applied for a compar...

نمودار تعداد نتایج جستجو در هر سال

با کلیک روی نمودار نتایج را به سال انتشار فیلتر کنید

function paginate(evt) { url=/search_year_filter/ var term=document.getElementById("search_meta_data").dataset.term pg=parseInt(evt.target.text) var data={ "year":filter_year, "term":term, "pgn":pg } filtered_res=post_and_fetch(data,url) window.scrollTo(0,0); } function update_search_meta(search_meta) { meta_place=document.getElementById("search_meta_data") term=search_meta.term active_pgn=search_meta.pgn num_res=search_meta.num_res num_pages=search_meta.num_pages year=search_meta.year meta_place.dataset.term=term meta_place.dataset.page=active_pgn meta_place.dataset.num_res=num_res meta_place.dataset.num_pages=num_pages meta_place.dataset.year=year document.getElementById("num_result_place").innerHTML=num_res if (year !== "unfilter"){ document.getElementById("year_filter_label").style="display:inline;" document.getElementById("year_filter_place").innerHTML=year }else { document.getElementById("year_filter_label").style="display:none;" document.getElementById("year_filter_place").innerHTML="" } } function update_pagination() { search_meta_place=document.getElementById('search_meta_data') num_pages=search_meta_place.dataset.num_pages; active_pgn=parseInt(search_meta_place.dataset.page); document.getElementById("pgn-ul").innerHTML=""; pgn_html=""; for (i = 1; i <= num_pages; i++){ if (i===active_pgn){ actv="active" }else {actv=""} pgn_li="
  • " +i+ "
  • "; pgn_html+=pgn_li; } document.getElementById("pgn-ul").innerHTML=pgn_html var pgn_links = document.querySelectorAll('.mypgn'); pgn_links.forEach(function(pgn_link) { pgn_link.addEventListener('click', paginate) }) } function post_and_fetch(data,url) { showLoading() xhr = new XMLHttpRequest(); xhr.open('POST', url, true); xhr.setRequestHeader('Content-Type', 'application/json; charset=UTF-8'); xhr.onreadystatechange = function() { if (xhr.readyState === 4 && xhr.status === 200) { var resp = xhr.responseText; resp_json=JSON.parse(resp) resp_place = document.getElementById("search_result_div") resp_place.innerHTML = resp_json['results'] search_meta = resp_json['meta'] update_search_meta(search_meta) update_pagination() hideLoading() } }; xhr.send(JSON.stringify(data)); } function unfilter() { url=/search_year_filter/ var term=document.getElementById("search_meta_data").dataset.term var data={ "year":"unfilter", "term":term, "pgn":1 } filtered_res=post_and_fetch(data,url) } function deactivate_all_bars(){ var yrchart = document.querySelectorAll('.ct-bar'); yrchart.forEach(function(bar) { bar.dataset.active = false bar.style = "stroke:#71a3c5;" }) } year_chart.on("created", function() { var yrchart = document.querySelectorAll('.ct-bar'); yrchart.forEach(function(check) { check.addEventListener('click', checkIndex); }) }); function checkIndex(event) { var yrchart = document.querySelectorAll('.ct-bar'); var year_bar = event.target if (year_bar.dataset.active == "true") { unfilter_res = unfilter() year_bar.dataset.active = false year_bar.style = "stroke:#1d2b3699;" } else { deactivate_all_bars() year_bar.dataset.active = true year_bar.style = "stroke:#e56f6f;" filter_year = chart_data['labels'][Array.from(yrchart).indexOf(year_bar)] url=/search_year_filter/ var term=document.getElementById("search_meta_data").dataset.term var data={ "year":filter_year, "term":term, "pgn":1 } filtered_res=post_and_fetch(data,url) } } function showLoading() { document.getElementById("loading").style.display = "block"; setTimeout(hideLoading, 10000); // 10 seconds } function hideLoading() { document.getElementById("loading").style.display = "none"; } -->