New performance indices for 6-dof UPS and 3-dof RPR parallel manipulators
نویسندگان
چکیده
منابع مشابه
New Performance Indices for 6-dof UPS and 3-dof RPR Parallel Manipulators
In this paper we introduce two new posture-dependent performance indices for 6dof UPS and 3-dof RPR parallel manipulators. One is based on an object-oriented metric in the workspace (end-effector dependent) and the other one takes the angular velocities of the passive joints into consideration (end-effector independent). Both newly defined indices are invariant under rigid-body motions and simi...
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In parallel manipulator design, usual 6-DOF PMs, like the Stewart platform, suffer from the disadvantages of difficult forward kinematics, coupled motion, and small workspace, so that the motion planing and control become very complicated and difficult to be implemented in real application. Most of the PMs with lower mobility are over-constrained when assembly errors are considered [1]. Therefo...
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In this thesis, the class of parallel manipulators with six kinematic chains of type PRRS is analyzed. In this class, six linear actuators attached to the base control the six degrees of freedom of the mobile platform of the parallel manipulator. Six legs of constant length connect the mobile platform to the linear actuators through respectively spherical and universal
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Parallel manipulators (PMs) have been the subject of study, of much robotic research during the past three decades. A parallel manipulator (PM) is a closed loop kinematic chain mechanism, that is connected to the base via multiple independent chains. The scope of this research work is to perform the position analyses of the three degrees of freedom PMs (TRIPOD and TRI-GLIDE). The present work h...
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ژورنال
عنوان ژورنال: Mechanism and Machine Theory
سال: 2009
ISSN: 0094-114X
DOI: 10.1016/j.mechmachtheory.2008.02.004