نتایج جستجو برای: parallel manipulators

تعداد نتایج: 229175  

1998
Robert L. Williams

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant trussbased manipulators (TBMs), The Virtual Serial Manipulator Approach. The approach is to model complex in-parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematically-redundant serial manipulators c...

2012
Sergiu-Dan Stan Vistrian Mătieş Radu Bălan

Over the last couple of decades parallel robots have been increasingly studied and developed from both a theoretical viewpoint as well as for practical applications (Merlet, 1995). Advances in computer technology and development of sophisticated control techniques have allowed for the more recent practical implementation of parallel manipulators. Some of the advantages offered by parallel manip...

2013
Mats Isaksson Torgny Brogårdh Saeid Nahavandi

Parallel manipulators with a rotation-symmetric arm system possess all the typical advantages of parallel robots, such as high acceleration and high-accuracy positioning. Contrary to the majority of proposed parallel manipulators, the rotation-symmetric arm system leads to a large workspace in relation to the footprint of the manipulator. This paper focuses on a subclass of these manipulators w...

Journal: :JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing 1995

Journal: :Journal of the Robotics Society of Japan 2012

2006
H. R. Mohammadi Daniali

With regard to planar parallel manipulators, a general classification of singularities into three groups is given. The classification scheme relies on the properties of instantaneous centers of rotation. This method is very fast and can easily be applied to the manipulators under study. The method is applied to a planar three-degrees-of-freedom parallel manipulator and all its singular configur...

2008
J. Gallardo H. Orozco

According to the notation proposed by the International Federation for the Theory of Mechanisms and Machines IFToMM (Ionescu, 2003); a parallel manipulator is a mechanism where the motion of the end-effector, namely the moving or movable platform, is controlled by means of at least two kinematic chains. If each kinematic chain, also known popularly as limb or leg, has a single active joint, the...

Journal: :Journal of Computer Science and Cybernetics 2012

2014
Guang Yu Jun Wu Liping Wang

This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the ma...

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