[PDF] Top 20 Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot

... the home pose but with the same joint ...a non- singular assembly mode changing trajectory and stands only for the parallel ...robot. ... Voir le document complet

... 2, 3. 7 Conclusions Study parametrization of individual modules of the 3-RPS-3-SPR Series- Parallel Manipulator (S-PM) was used to determine six parameters that characterize ... Voir le document complet

... The workspace of the robot is a cylinder in the projection space [ z, q 2 , q 3 ] if there are no joint limits on the actuated joints, a is presented in ... Voir le document complet

... The workspace of the robot is a cylinder in the projection space [z q 2 q 3 ] if there are no joint limits on the actuated joints, a is presented in ...[6]. ... Voir le document complet

... Determining the bounds [vmax] and [amax] is by far the most challenging problem in relation with our ...To the best of our knowledge, no method exist to determine the full- cycle ... Voir le document complet

... this robot, defined as the set of posi- tions of point C where the robot is at singularity for a given ori- entation, were studied in detail in [18] and it was shown that ... Voir le document complet

... to the location of con- figurations in the workspace, the trajectory planning will not have to be equally ...treated. In the case of two configurations lying in a ... Voir le document complet

... model the workspace according to the projection axis order 7 Conclusions and Perspectives In this paper, we have studied the workspace, the singulari- ties, the ... Voir le document complet

... In the literature, trajectories for changing assembly modes has been investigated either by using dynamic proper trajec- tories [27] or the properties of the ... Voir le document complet

... microsurgery, the surgeon en- counters several difficulties due to the confined spaces and ...micro-manipulations. The purpose of the paper is to design a robot with a prescribed ... Voir le document complet

... • The design of parallel robots without ...using the optimal design approach [5, 6] or by creating decoupled mechanisms [7, ...is the most usual one, but it usually leads to the design ... Voir le document complet

... space, assembly mode, 3-RPR parallel ...a parallel manipulator loses stiffness, it is of primary importance to be able to characterize these special ...task for a general ... Voir le document complet

... 2 mode to another, the manipulator should cross a singularity 7 .... In fact, an analogous phenomenon exists in serial manipulators that can change their posture (inverse kinematic solution) ... Voir le document complet

... of the Type 2 singularity crossing trajectory Results along this trajectory, when the controller shown in ...Fig. 3 is implemented, are presented in Fig. 6. They showed that the ... Voir le document complet

... ABSTRACT The Accurate calculation of the workspace and joint space for 3 RPS parallel robotic manipulator is a highly addressed re- search work across the ... Voir le document complet

... posture in serial manipulators was shown to be associated with the existence of points in the workspace where three inverse kinematic solutions meet, called cusp points ...On the ... Voir le document complet

... a 3-RPR planar parallel manipulator, the idea of [11, 15] was to analyze the kernels of the matrices in the first and second order terms of the series ex- pansion ... Voir le document complet

... compute the aspects and the uniqueness domains, new algebraic tools based on Groebner basis are introduced in this ...obtain the analytic expression of the border of these domains and, ... Voir le document complet

... to the base through two prismatic joints instead of one and we geometrically modeled constraints limiting the workspace of the new parallel architecture for a given orientation ... Voir le document complet

... Cable-Driven Parallel Robot Actuators, Gearboxes And Winches According To The Twist Feasible Workspace Lorenzo Gagliardini 1 , Stéphane Caro 2 and Marc Gouttefarde 3 Abstract— Cable ... Voir le document complet