The Definition, Determination, and Characterization of Acceleration Sets for Spatial Manipulators

The Definition, Determination, and Characterization of Acceleration Sets for Spatial Manipulators

Characterization of Acceleration Sets for Spatial Manipulators

In this article. rhe approach developed by the authors for systematicallv studving rhe acceleration capabiliry and properties of rhe end effector of a planar manipulator is extended to the general. serial, spatial manipulator possessing three degrees of freedom. The acceleration of the end effector at a given configuration of the manipulator is a linearfunction of the actuator rorques and a (no...

Acceleration sets of planar manipulators

This report develops a systematic approach for determining the acceleration capability and the acceleration properties of the end-effector of a planar two degree-of-freedom manipulator. The acceleration of the end-effector at a given configuration of the manipulator is a linear function of the actuator torques and a (nonlinear) quadratic function of the "joint-velocities. By decomposing the fun...

the innovation of a statistical model to estimate dependable rainfall (dr) and develop it for determination and classification of drought and wet years of iran

آب حاصل از بارش منبع تأمین نیازهای بی شمار جانداران به ویژه انسان است و هرگونه کاهش در کم و کیف آن مستقیماً حیات موجودات زنده را تحت تأثیر منفی قرار می دهد. نوسان سال به سال بارش از ویژگی های اساسی و بسیار مهم بارش های سالانه ایران محسوب می شود که آثار زیان بار آن در تمام عرصه های اقتصادی، اجتماعی و حتی سیاسی- امنیتی به نحوی منعکس می شود. چون میزان آب ناشی از بارش یکی از مولفه های اصلی برنامه ...

Definition sets for the Direct Kinematics of Parallel Manipulators

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus...