نتایج جستجو برای: workspace
تعداد نتایج: 5353 فیلتر نتایج به سال:
This paper discusses dexterous, within-hand manipulation with differential-type underactuated hands. We discuss the fact that not only can this class of hands, which to date have been considered almost exclusively for adaptive grasping, be utilized for precision manipulation, but also that the reduction of the number of actuators and constraints can make within-hand manipulation easier to imple...
The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...
We consider the estimation of the post-failure workspace of two two-link serial robots where the free-swinging failure of one robot’s last joint is handled by having the functional robot grasp the final link of the broken robot. We present an algorithm for finding the optimal placement of such synergistic robot arms and the optimal grasp point on the final link of the broken robot. To determine...
Designers engaged in a team design project need to establish, develop, and maintain a shared environment in which they can collaborate. Design then emerges from the interaction between the participating designers. In this paper we consider issues involved in the development of computer-based design environments in which teams of design professionals can collahorat,~, focussing on the necd for v...
This paper presents the integration of a three degree-of-freedom (3-DOF) kinesthetic haptic device with a head-mounted display (HMD), using a virtual piano keyboard as a motivating application. The inertial sensors in the HMD allow the user to view the full set of keys without zooming out simply by turning his or her head to look up and down the keyboard. The haptic device further increases imm...
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kine...
This paper presents a geometrical method for the workspace analysis of 6-PRRS parallel manipulators. A geometric algorithm is described for the computation of the constant-orientation workspace, which was implemented in the CAD/CAM system CATIA. The in ̄uence of the dierent design parameters on the workspace, as well as on other properties of the manipulator, is discussed. In addition, a new re...
Configuration Spaces: To begin, let us consider the problem of planning the motion of a single agent among a collection of obstacles. Since the techniques that we will be discussing originated in the field of robotics, henceforth we will usually refer to a moving agent as a “robot”. The environment in which the agent operates is called its workspace, which consists of a collection of geometric ...
The growing interest in the use of parallel kinematic machines (PKM) in machining applications requires clear determination of the workspace, dexterity and stiffness. This paper deals with the issues regarding the use of PKM as micro machine tools. Comparison criteria are set and a quantitative analysis is made to compare the characteristics of serial and parallel kinematics with respect to the...
This paper presents the design of a robot wrist with zero hand length and unlimited mutually orthogonal joints. This design is an improvement over existing ones. When equipped with this type of wrist, a robot's entire reachable workspace becomes the dexterous workspace. Because some wrist joint limitations may need to be imposed under practical consideration, to better assess this new wrist des...
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