Titlebook: Mechanism Design for Robotics; MEDER 2021 Sa?d Zeghloul,Med Amine Laribi,Marc Arsicault Conference proceedings 2021 The Editor(s) (if appli

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書目名稱Mechanism Design for Robotics影響因子(影響力)




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arcane

思想靈活

Torque Minimization of Dynamically Decoupled R-R Spatial Serial Manipulators via Optimal Motion Contrs based on generation of motion via “bang-bang” profile. The problem is considered in two steps: at first, the dynamic decoupling of the manipulator involves redistributing the moving mass, which leads to the decoupling of motion equations. Then, the input torques are minimized via generation of mo

壓艙物

Kinematic Analysis of a Coaxial 3-,RR Spherical Parallel Manipulator Based on Screw Theorytion for the mobile’s platform orientation. A unique solution for the inverse and forward kinematic problem which corresponds with the assembly mode of a physical prototype is considered. The screw theory is then used to derive the Jacobian matrix as well as to carry out the velocity analysis. Final

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規(guī)范就好

Inverse Kinematics and Workspace of a 3-PRRS Type Parallel Manipulators, along which the center of the moving platform can move, are derived, and it is shown that the total reachable area of these spheres is the workspace of the considered parallel manipulator. Numerical examples of defining the workspace of the 3-PRRS type parallel manipulator are presented.

atrophy

Investigation of Interference-Free Workspace of a Cartesian (3-,RRR) Parallel Manipulatorgest volume cuboid that inscribes the interference-free workspace is proposed, which can be used as a performance index for the mechanism under investigation. The effect of link dimensions and the size of the moving platform on the interference-free workspace is also analysed in this work.

finale

Exit Point, Initial Length and Pose Self-calibration Method for Cable-Driven Parallel Robotsable lengths is performed. The simulation considers the modelling of the pulleys at exit points, and is carried out using nonlinear least square method. The effects of calibration tuning parameters and of measurement pose number on calibration quality are analyzed. As a result, the calibration quali