[PDF] Top 20 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 ... Voir le document complet

... types of reconfigurable parallel manipu- ...determination of a control scheme for a reconfigurable parallel manipulator with different actuation ...formance of ... Voir le document complet

... f 4 In opposite to the aspects defined by [1] or by [2], the generalized aspects are not ...the manipulator has only one inverse kinematic solution, the notion of generalized aspect is equivalent to ... Voir le document complet

... mapping’ of the Eu- clidean group SE(3). The mechanism was described by using a set of eight constraint ...equations. A primary decomposition over a set of constraint equations ... Voir le document complet

... the parallel robots with several inverse and direct kinematic solutions, the aspects are defined as the maximal singularity-free sets in the workspace or the cross-product of the joint space ... Voir le document complet

... change of assembly mode For the purpose of trajectory planning, it is interesting to investigate more deeply when and how a parallel manipulator changes assembly mode without ... Voir le document complet

... goal of 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 ... Voir le document complet

... method of algebraic geometry was applied to characterize the type of operation modes of the 2-RUU parallel ...set of eight constraint equations are firsly derived ... Voir le document complet

... CONCLUSIONS AND FUTURE WORK A dual reconfigurable 4-rRUU PM consisting of a recon- figurable revolute joint based on the double-Hooke’s joint linkage was presented in this ...how ... Voir le document complet

... space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an ...composed of the three legs (2USP-U) to connect the ... Voir le document complet

... 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 ... Voir le document complet

... Number of cells to 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

... directions of the three prismatic joints are vertical. In [3], Liu and Bonev showed that the accuracy of the 3- P V RS becomes poorer with the increment of the tilt angle of the moving ... Voir le document complet

... reconfigurable Parallel Manipula- tors (PM) have received much attention from a number of re- searchers ...classes of multi-operation-mode PMs have been proposed ...class of PMs, ... Voir le document complet

... equations of a 3-RUU PM were derived by two different approaches: geometrical approach, where all possible constraints were listed based on the geometry of the manipulator and through ... Voir le document complet

... repeatability of the robot was measured with a dial indicator touching a flat device mounted under the end-effector 4 cm below the tool center ...robot workspace as shown in ...trous ... 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 ...The workspace analysis can be ... Voir le document complet

... Keywords: Parallel manipulator, decoupled motion, SCARA motion ...Introduction A typical parallel manipulator consists of a moving platform connected to a fixed ... Voir le document complet

... aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are ...rect and inverse kinematic problem as well as the ... Voir le document complet

... section, a method giving a good estimate of robot stiffness is ...for a Gough Stewart Platform, assuming that machine elements are considered as ...advantage of this method is to ... Voir le document complet