Parallel robots modelling and optimization
نویسندگان
چکیده
منابع مشابه
trajectory optimization of spherical parallel robots using artificial neural network
this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...
متن کاملTrajectory Optimization of Spherical Parallel Robots using Artificial Neural Network
This article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. A modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. The polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...
متن کاملParallel robots ∗
8 Forward position kinematics 20 8.1 General parallel structure . . . . . . . . . . . . . . . . . . . . . . 20 8.2 FPK by leg length error minimization . . . . . . . . . . . . . . . 21 8.3 Closed-form FPK for 321 structure . . . . . . . . . . . . . . . . . 22 8.4 Closed-form FPK: sensing redundancy . . . . . . . . . . . . . . . 24 ∗This Chapter uses material from the Chapters on Serial robots a...
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متن کاملDexterous Workspace Shape and Size Optimization of Tricept Parallel Manipulator
This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...
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ژورنال
عنوان ژورنال: Journal of Physics: Conference Series
سال: 2021
ISSN: 1742-6588,1742-6596
DOI: 10.1088/1742-6596/1740/1/012067