[PDF] Top 20 Compensation of compliance errors in parallel manipulators composed of non-perfect kinematic chains

... the compliance errors are relatively small, composition of conventional geo- metrical model and the stiffness matrix give rather accurate approximation of the modified mapping from the joint ... Voir le document complet

... geometrical errors may be dominated by non-geometrical ones that are caused by influence of a number of factors ...interaction in the technological process may cause essential ... Voir le document complet

... modeling of parallel manipulators composed of non-perfect serial chains, whose geometrical parameters differ from the nominal ...ones. In these ... Voir le document complet

... planar parallel manipulators using ...exist in each singularity-free region. When the starting and goal poses are in the same singularity-free region but in two distinct uniqueness ... Voir le document complet

... Unite´ de recherche INRIA Lorraine, Technopoˆle de Nancy-Brabois, Campus scientifique, 615 rue du Jardin Botanique, BP 101, 54600 VILLERS LE` S NANCY Unite´ de recherche INRIA Rennes, Ir[r] ... Voir le document complet

... Conclusions In this paper has been presented a method that allows computing the maximal efforts in the joints of planar parallel ...solution of this task could be the calculation ... Voir le document complet

... 2.2 Parallel Singularities Parallel singularities occur when the determinant of matrix A vanishes [8,9]. At these configurations, it is possible to move locally operation point P with the actuators ... Voir le document complet

... ways of solving parametric systems in ...use of Discriminant Varieties (DV, [8]) and Cylindrical Algebraic Decomposition (CAD, [3]) for two ...decomposition of the parameter space through an ... Voir le document complet

... Optimization, Parallel Manipulators, Workspace, ...design of parallel kinematics machines is a com- plex ...dependency of almost all the perfor- mance ...reported in [2], since ... Voir le document complet

... Gosselin, C., Sefrioui, J., Richard, M. J., Solutions polynomiales au probl` eme de la cin´ ematique des manipulateurs parall` eles plans ` a trois degr´ e de libert´ e, Mechanism and Machine Theory, Vol. 27, pp. ... Voir le document complet

... terms of the kinematic Jacobian matrix J are not homogeneous. In this case, its condition number is meaningless as its singular values cannot be arranged in order due to their different ... Voir le document complet

... serial kinematic chain composed of at least two R and/or P joints which include at least one R joint and in which all the links are moving along parallel ...planes. In a composi- ... Voir le document complet

... parallel structures. In other words, we had changed the statement of problem: it is not essential that parallel architecture will be fully-decoupled, it can also be partially decoupled but it ... Voir le document complet

... effect of manufacturing tolerances on the accuracy of a Stewart ...bound of the end-effector of a Stewart platform when the error bounds of the joints are given, and an inverse error ... Voir le document complet

... loci of the Jacobian ma- trices of a three-PRR parallel ...planar parallel manip- ulator. To solve the problem of nonhomogeneity of the Jacobian matrix, we used the notion ... Voir le document complet

... nor the actuation wrench system degenerates, i.e. rank(J E ) = 5, rank(W a ) = 3, and rank(W c ) = 3. This means that the manipulator reaches an actuation singularity. By examining the null space of the degenerate ... Voir le document complet

... Transmission in Planar Parallel Manipulators In the design of a mechanism, the quality of effort transmission is a key ...transmissivity of a mechanism is defined as the ... Voir le document complet

... synthesis of two degree-of-freedom hybrid translational manipulators with identical ...types of two degree-of-freedom hybrid translational manipulators with identical legs are ... Voir le document complet

... means of a numer- ical forward kinematic ...straightness of the line is computed for the two kinematic parameter sets (a priori and identified) as the root mean square of the distance ... Voir le document complet

... increase in audit does not necessarily lead to improve tax ...this non-compliance depends on the reasons why taxpayers fail to ...level of income, increased audits might not necessarily induce ... Voir le document complet