Kinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
نویسندگان
چکیده
منابع مشابه
Kinematic and Elastostatic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ration further by allowing a change of assembly mode without internal link collisions or collisions between the links and end-effector. The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation a...
متن کاملKinematic and Elastodynamic Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Manipulator
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the...
متن کاملCollision-Free Workspace Design Optimisation of the 3-DOF Gantry-Tau Parallel Kinematic Machine
One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces an optimisation scheme based on the geometric approach for the wo...
متن کاملKinematic Optimisation of the Gantry-Tau Parallel Kinematic Manipulator with respect to its Workspace
The Gantry-Tau is a recently developed parallel kinematic manipulator (PKM). Since the actuators are stationary it possesses the following characteristics: high speed, high acceleration, small moving mass and high static and dynamic accuracy. Since all link forces in the structure are axial, high stiffness can also be achieved. One of the main advantages of the Gantry-Tau machine is a large wor...
متن کاملDesign and Kinematic Analysis of a 4-DOF Serial-Parallel Manipulator for a Driving Simulator
This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 2009
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.2009.2.1