Haut PDF Designing a parallel manipulator for a specific workspace
Designing a parallel manipulator for a specific workspace
... 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] ...
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A novel ankle rehabilitation device based on a reconfigurable 3-RPS parallel manipulator
... 3-RPS parallel manipulator discussed in [2]. The orientation workspace is parametrized to recognize the physical interpretations of rotational ...and a performance index, named Maximum ...
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Pantopteron-4: a New 3T1R Decoupled Parallel Manipulator for Pick-and-Place Applications
... such a solution through the use of ...be a reasonable price to ...decoupled parallel robots, which is a great advantage in terms of workspace volume and acceleration ...of a ...
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Operation modes and workspace of a 4-rRUU Parallel Manipulator
... Keywords: parallel manipulator, dual reconfigurable, 4-RUU, operation modes, workspace 1 Introduction Different configuration space regions of a parallel manipulator (PM) with ...
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Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide
... namely, a complex Cartesian workspace and highly non linear input/output ...relations. For most PKM, the Jacobian ma- trix which relates the joint rates to the output velocities is not constant and ...
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Workspace and Assembly modes in Fully-Parallel Manipulators : A Descriptive Study
... here for lack of ...dextrous workspace is non ...the workspace actually coincide (the workspace has the structure of a ...that a singular surface lies in- side this ...
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Joint space and workspace analysis of a two-DOF closed-chain manipulator
... of parallel mechanism has drawn the interest of several ...The workspace is usually considered as a relevant design criterion [1, 2, ...3]. Parallel singularities [4] occur in the ...
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Optimal Motion Generation for Exiting a Parallel Manipulator from a Type 2 Singularity
... Abstract Parallel robots have proved they can have better per- formances than serial ones in term of rigidity and payload-to-weight ...their workspace is largely reduced by the presence of ...the ...
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A Framework for the Control of a Parallel Manipulator with Several Actuation Modes
... reconfigurable parallel manipu- lators. This paper deals with the determination of a control scheme for a reconfigurable parallel manipulator with different actuation ...of ...
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Comparison of Planar Parallel Manipulator Architectures based on a Multi-objective Design Optimization Approach
... Regular workspace size The quality of the manipula- tor workspace is of prime importance for the design of Parallel Kinematics Machines ...the workspace, the better the workspace ...
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Image-based Visual Servoing of a Gough-Stewart Parallel Manipulator using Leg Observations
... 1: A Gough-Stewart ...of a parallel ...defined for most of the parallel ...[10] for a Gough-Stewart platform [14, ...(see for instance [39]), or to designing ...
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Operation Modes Comparison of a Reconfigurable 3-PRS Parallel Manipulator based on Kinematic Performance
... using a set of eight constraint equations. A primary decomposition over a set of constraint equations revealed the existence of two op- eration ...3-PRS parallel ma- nipulator for ...
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The Kinematic Analysis of a Symmetrical Three-Degree-of-Freedom Planar Parallel Manipulator
... useful for representing complex 3 dimensional shapes like workspaces [10]. A close method is used in [17] that divides the workspace into ...as a function of the ...
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A New 3-DoF Planar Parallel Manipulator with Unlimited Rotation Capability
... planar parallel manipulator, unlimited rotation ...search for a suitable means for simulating flight conditions for the safe training of helicopter pilots, the design of ...
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Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base
... epicyclic parallel manipulator, Monash Epicyclic-Parallel Manipulator (MEPaM), is presented in [16] with all actuators mounted on the base, parallel singularity is independent on the ...
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Dynamic modeling and design optimization of a 3-DOF spherical parallel manipulator
... general, a robot design process has to simultaneously deals with the kinematic and kineto- static/dynamic aspects, both of which include a number of performance measures that essentially vary throughout the ...
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Kinematic Analysis and Design Optimization of a 4-rRUU Parallel Manipulator
... constructing a prototype of the 4-rRUU PM is to use it for milling ...operations. A milling cutter will be mounted on the moving platform, whose axis will be normal to the latter as roughly ...
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Design Procedure for a Fast and Accurate Parallel Manipulator
... presents a design procedure for a two- degree of freedom translational parallel manipulator, named ...reach a velocity equal to 6 m/s, an acceleration up to 20 G and a ...
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A Six-Dof Epicyclic-Parallel Manipulator
... Keywords: parallel manipulator, epicyclic system, kinematics, workspace 1 Introduction There are a large number of parallel manipulators which have been reported over the past three ...
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A Method for Modeling Analytical Stiffness of a Lower Mobility Parallel Manipulator
... is a crucially important performance specifica- tion of parallel kinematic ...get a real industrial machine, the H4 prototype ...usable workspace and the forces into the machine components ...
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