Parallel Manipulators New Developments Part 7 potx

... three-degree-of-freedom spherical parallel manipulators, Intl J. of Robotics Research, Vol.23, No.3, (March 2004) pp.2 37- 245, ISSN 0 278 -3649 Parallel Manipulators, New Developments 184 of the ... ( ) ( ) φΓdet=w (65) Parallel Manipulators, New Developments 172 Fig. 1. Architecture of the assembly system based on two cooperating parallel robots 2. Kine...

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... Group1 97. 5 92.5 85.0 95.0 92.5 10 .7 2.9 Group2 92.5 100 77 .5 97. 5 75 13.4 4.0 Group3 62.5 77 .5 80.0 72 .5 95.0 20.6 10 .7 Table 4. Experimental Results. Parallel Manipulators, New Developments ... 5 6 0Hz 51.4 72 .9 55 .7 82.9 60.0 45 .7 1 Hz 55.4 90.8 67. 1 94 .7 90.5 94 .7 Polygonal Samples 3 Hz 70 .7 90.5 81.3 86.5 86.8 93.3 0Hz 71 .4 72 .9 73 .2 10...

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... ( m ) M an i pu l a bilit y ω -0.1 0 0.1 -0.6 -0.4 -0.2 0.6 0.8 1 x (m) z ( m ) -0.1 0 0.1 -0.1 0 0.1 0 .77 0 .77 2 0 .77 4 0 .77 6 x (m) y ( m ) (a) (b) (c) Fig. 9. Manipulability distribution of a 3-PCR TPM in ... should be chosen equation ( 27) . Using this technique, a hemisphere work space can be obtained. c m nn e ρ >= ( 27) Parallel Manipulators, New Development...

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... of Parallel Manipulators Ahmet Akbas Marmara University Turkey 1. Introduction There are mainly two types of the manipulators: serial manipulators and parallel manipulators. The serial manipulators ... Control of Parallel Manipulators 29 (IMC) can be implemented using ANN model of parallel manipulataor and its inverse model (Fig. 7) . Fig. 7. IMC applicati...

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... 1991, 439-585, ISSN 0 278 -3649 Selig, J. M. (1996). Geometrical Methods in Robotics, Springer-Verlag, ISBN 03 879 472 80, New York Parallel Manipulators, New Developments 72 (30) (31) ... Parallel Manipulators, New Developments 60 a) b) c) Figure 3: 3-PRRR parallel mechanisms A particular mechanism is thus described, in addition ... manipulator b) Dia...

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... 62.28 73 .05 17. 46 120 X 8 100 1926.2 21 37. 9 78 .05 91.33 19.33 150 X 8 100 2184.4 2410.5 92. 17 102.09 21.96 170 X 8 100 2432 .7 2985.0 100.02 114.43 22. 07 200 X 8 100 32 57. 3 3863.3 118.34 136. 57 ... statistics 60 X 7 100 75 6.4 921.2 28. 07 34.15 11.30 70 X 7 100 890.0 1056 .7 32 .71 44.19 12. 47 80 X 8 100 1018.1 1263.6 39.03 48.22 15.21 90 X 8 100 1293.0 151...

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... instantaneous motions of deficient-rank 3- RPS parallel manipulators. Mechanism and Machine Theory, Vol. 37, No. 2, 229-240. Parallel Manipulators, New Developments 336 + −=+, ti bi i p Rd ... Φ− ⎡ ⎤ ⎢ ⎥ ⎢ ⎥ == ⎢ ⎥ ⎢ ⎥ ⎣ ⎦ 33 1 13 33 23 1 () . 2 TT oooo IO PI JMJJMJ IO PI ( 17) Using (13) and (14), the decomposition of f is: Parallel Manipulators, New Development...

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... Parallel Manipulators, New Developments 372 Huang, Z. (1985). Modeling Formulation of 6-DOF multi-loop Parallel Manipulators, Part- 1: Kinematic Influence Coefficients, ... The dynamic equations of the parallel manipulator can be written as T TG − −=ηΓ λ  MZTR (7) Singularity Robust Inverse Dynamics of Parallel Manipulators 377 linearly dependent, hence ......

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... shaping technique and the two-time scale control scheme, applied to parallel manipulators, Parallel Manipulators, New Developments 408 right link in a counterclockwise direction. The pose ... P A 1 B 1 C 1 A 1 B 1 A 1 P B 1 C 1 PC 1 Parallel Manipulators, New Developments 382 23456 ( ) 30.496 154.909 311.148 265 .75 3 81.318stttttt=− + − + ( 37) Figure 2. M...

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... segments, shown respectively in Fig. 7 and 8. Parallel Manipulators, New Developments 430 a system with acceleration of zero mean process noise (Friedland, 1 973 ; Lewis, 1986). In addition ... pp. 175 -181, 0022-0434 Merlet, J P. (1996), Direct kinematics of planar parallel manipulators, Proceedings of IEEE International Conference on Robotics and Automation, pp. 374...

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