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Showing 1 to 12 of 12 for “"Parallel manipulator"”.
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Design and analysis of a three degrees of freedom (DOF) parallel manipulator with decoupled motions
Parallel manipulators have been the subject of study of much robotic research during the past three decades. A parallel manipulator typically consists of a moving platform that is connected to a fixed base by at least two kinematic chains in parallel. Parallel manipulators can provide several …
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Modeling, Control and Evaluation of the quasi-Spherical Parallel Manipulator: A master device for telesurgery and teleproctoring
L'abstract è presente nell'allegato / the abstract is in the attachment
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Investigation into the Utility of the MSC ADAMS Dynamic Software for SimulatingRobots and Mechanisms
… a 2R planar serial robot and a Stewart-Gough parallel manipulator are modeled and simulated in MSC ADAMS/View. Forward dynamics simulation is done on the Stewart-Gough parallel manipulator; Inverse dynamics simulation is done on Slider-Crank mechanism, 2R planar serial robot and 4-bar …
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Design and Implementation of Stewart Platform Robot for Robotics Course Laboratory
… laboratory section. A Stewart Platform is a parallel manipulator robot with six prismatic joints that has six degrees of freedom, able to be defined in both position and orientation. Its purpose is to supplement parallel robot material covered in lecture. Learning objectives include applying …
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Design and control of a compact aerial manipulation system with a Delta-type parallel robot
… of a quadcopter equipped with a Delta-type parallel manipulator. Such systems present demanding challenges in both control theory and task planning, which are addressed with novel mechanical features, modern flight controllers, and optimal trajectory generation. They are primarily designed …
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Topological analysis of singularity loci for serial and parallel manipulators
Singularities of robot manipulators have been intensely studied in the last decades by researchers of many fields. Serial singularities produce some local loss of dexterity of the manipulator, therefore it might be desirable to search for singularityfree trajectories in the jointspace. On the other …
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Design & analysis of a parallel drive spherical rotation mechanism for application in high tech farming robots
… specifically on the design and control of a parallel drive spherical rotation mechanism capable of manipulating a miniaturized steam jet ejector along the surface of a sphere. The jet ejector is capable of shooting out a lethal high-pressure steam jet towards the targeted pest while the …
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Design of a robotic manipulator using variable geometry trusses as joints
Parallel robotic manipulators are generally believed to be stiffer under load and more precise than conventional serial manipulators. This is because of their closed loop construction which allows forces to be shared through multiple paths to the ground. Unfortunately, most proposed parallel …
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Mechanical design of the Carpal wrist: a parallel-actuated, singularity-free robotic wrist
Parallel robotic manipulators offer potential advantages over the more conventional serial manipulators, such as a higher stiffness-to-weight ratio and more precise control. However, their use as base manipulators and robotic wrists has been limited by their more complicated kinematic solutions …
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Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design
The aim of using parallel kinematic motion systems as an alternative of conventional machine tools for precision machining has raised the demands made on the accuracy of identification of the geometric parameters that are necessary for the kinematic transformation of the motion variables. The …
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Kinematics Analysis of Two Parallel Locomotion Mechanisms
… presents the kinematics study on two cases of parallel locomotion mechanisms. A parallel locomotion mechanism can be defined as "a mechanism with parallel configuration and discrete contact with respect to the ground which renders a platform the ability to move". The first case is a tripedal …
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Design of 3-DOF parallel manipulators for micro-motion applications
This thesis presents two unique micro-motion parallel kinematic manipulators (PKM): a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three linear-motion driving units, and the 3-DOF …