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A novel parallel 2-DOF spherical mechanism with one-to-one input
Abstract: - This paper presents a novel decoupled parallel 2-DOF spherical mechanism. ... introduced based on a general 2-DOF spherical mechanism. ... characteristics, such as large payload and weight ... a 2-DOF orientation device is sufficient. ... platform is on the initial position, the axis of R1 is .... workspace analysis. e.
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Kinematic analysis of a 3-PRS parallel manipulator - Department of
The key issues of how the kinematic characteristics in terms of workspace and dexterity vary ... resorting to reciprocal screw theory. Then the ... Although less- DOF spatial parallel manipulators present ... 2. Description and mobility analysis of a 3-PRS parallel manipulator ... describe the position and orientation of the moving.
[ J07-4-Li-Xu-RCIM.pdf - Read/Download File

Type synthesis of the rotational decoupled parallel mechanism
parallel mechanism screw theory rotational decoupling type synthesis ... Dunlop G R, Jones T P. Position analysis of a two DOF parallel mechanism-the canterbury tracker. ... synthesis of 3-DOF spherical parallel manipulators based on screw theory. ... Comparative analysis of characteristics of the coupled and decoupled ...
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design and implementation of a 6 dof parallel manipulator with
DESIGN AND IMPLEMENTATION OF A 6 DOF PARALLEL MANIPULATOR .... 6 FORWARD ANALYSIS FOR SPECIAL 6-6 PARALLEL PLATFORM ...............65 .... 7-19 Measured leg connector lengths at positions A through F (all units mm) . ..... strategy for a parallel compliance coupler for force control (PCCFC) based on a ...
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The wrist design is based on the Stewart-Platform mechanism and ... to have low stiffness and consequently undesirable dynamic characteristics, ... typical Stewart Platform consists of two platforms driven by a number of parallel actuators and .... Cartesian configuration composed of Cartesian position and orientation of ...
[ 1-s2.0-004579069190035X-main.pdf - Read/Download File

Research Article Kinematic and Dexterity Analysis of a 3-DOF
Abstract: A new three Degree Of Freedom (3-DOF) parallel manipulator has been proposed in this ... position and orientation as well as to measure kinematic.
[ 12-239-248.pdf - Read/Download File

Geometric Analysis of Parallel Mechanisms
survey of all 3-DOF planar parallel mechanisms, to the analysis of a class of 3- DOF ... The velocity equations are derived by using both screw theory and .... His quiet leadership based on the .... 4.2.2 Geometric Modelling of the Constant- Orientation Workspace . . 106 ..... definition and an intelligent cutaway drawing ( Fig.
[ ThesisBonev.pdf - Read/Download File

Dynamic Coupling Analysis of a Spatial 6-DOF Electro - InTech
decoupling theory and a frequency responses ... three links share a common ball joint so that the position ... for controlling the orientation of the end-effector through ... joint space mass-inertia matrix based on the constrained ... platform. Figure 1. Spatial 6-DOF parallel manipulator. Figure 2. Definition of configuration  ...
[ InTech-Dynamic_coupling_analysis_of_a_spatial_6_dof_electro_hydraulic_parallel_manipulator_using_a_modal_decoupling_method.pdf - Read/Download File

Geometric Approach for Kinematic Analysis of a Class of 2DOF
parallel mechanisms (RPMs), as a result, the coupling of two angle ... characteristics of the mechanism, is very helpful to improve the performance of ... based on the concept of instantaneous singlerotationangle is proposed and .... orientation of vector MO ..... [7] DUNLOP G, JONES T. Position analysis of a two DOF parallel.
[ 2010-409.pdf - Read/Download File

Kinematic analysis of a novel 3-CRU translational parallel mechanism
Apr 24, 2015 ... Firstly, the structural characteristics of the mechanism ... nism is obtained based on the forward position analysis, and the reachable ... was a novel 3-DOF TPM based on two five-bar mechanisms. .... are translational or rotational DOF), screw theory is em- .... But for the 3-CRU orientation parallel mecha-.
[ ms-6-57-2015.pdf - Read/Download File

Analysis and Optimization of a New Family of Parallel - Tel - Hal
Oct 8, 2008 ... dynamic characteristics, as well as higher payload capacities. ... named PAMINSA (PArallel Manipulator of the I.N.S.A.). ... The first solution is based on the use of mechanisms ... theory concept. .... The manipulators from 3 to 6 DOF . ..... 6.1.2. Analysis of the orientation and position errors..................................
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Orientation Workspace Analysis of a 3-DoF Planar Parallel - ijrmet
In this paper, kinematic and workspace analysis of 3-DoF planar ... joints, it termed as 2-PRP and 1-PPR planar parallel kinematic ... Many industrial machine tools have a serial kinematic mechanism .... platform to determine the position (x, y) and the orientation (θz) ... Workspace Characteristics of 3-Dof Planar PKM.
[ 37-P-D-V-V-S-Kiran-Babu.pdf - Read/Download File

Parallel manipulators - Sophia Antipolis - Inria
2. 3. 4. 5. 6. O. C. Figure 1: A parallel manipulator with 6 D.O.F. through 6 ... By controlling these lengths we are able to control the position and orientation of the .... [7] Fichter E.F. A Stewart platform based manipulator: general theory and .... [ 34] Sugimoto K. Kinematic and dynamic analysis of parallel manipulators by means.
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Workspace Representation and Optimization of a Novel Parallel
Nov 17, 2011 ... Abstract: The development of a new parallel mechanism based on simulation ... orientation workspace. ... and suitable for visual analysis, modeling and optimization of workspace ... The CAD model of the proposed 3-DOF parallel mechanism is ... The position vector of bi (i = 1, 2, 3) with respect to the global ...
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A 3-PRS Parallel Manipulator Control Based on Neural Network
The 3-PRS architecture parallel mechanism possesses three spatial DOF with two ... 2 Displacement Kinematics Analysis of the Manipulator. The CAD ... ables from a given position and orientation of the output platform. ..... manipulator with the consideration of dynamic characteristics. ... Theory 39 (2004) 357-377. 10. Li, Y.
[ 978-3-540-72383-7_89.pdf - Read/Download File

New Direct Kinematic Formulation of 6 DOF Stewart-Gough - IJCAS
two approaches for different purposes: the polynomial-based and the ... the direct kinematics of 6-dof parallel manipulators with a tetrahedron stmcture [2].
[ 4-3-6.pdf - Read/Download File

Simulation and Workspace Analysis of a Tripod Parallel Manipulator
accurate positioning. A workspace analysis has been done for the determination of work volume of the 3 DOF PM. The position of the spherical joints connected ...
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A New Family of Hybrid 4-dof Parallel Mechanisms with Two
parallel mechanisms with two platforms can generate pitch motion of each ... Based on the 1T-3R mechanism, a footpad device was designed to ... characteristics, including low inertia, high rigidity, compactness, and precise resolution as ..... Lm2) of the mechanism given the position and orientation (Zf, Zr, θf, θr, ø) of the ...
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Design and analysis of a redundantly actuated parallel mechanism
six-degree-of-freedom parallel mechanism intended for rapid machining. .... the actuated joints from the position and orientation of the tool frame attached to the ...
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Curriculum Vitae - NEWS
Address: 2-12-1, Ookayama, Meguro-ku, Tokyo 152-8552, Japan ... (7) Yukio Takeda: Kinematic Analysis of Parallel Mechanisms at Singular Points Where a Connecting. Chain Has Local Mobility, Mechanism and Machine Theory, Vol.41, No.8, ... of Position-Orientation Decoupled Spatial In-Parallel Actuated Mechanisms ...
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Research on the Optimization of the Vibration Reduction Seat Based
Mar 21, 2015 ... Researches on the vibration of parallel mechanism around the ... the position and orientation of the mechanism's moving platform and that the.
[ TOMEJ-9-882.pdf - Read/Download File

Investigation of Kinematic Analysis and Applications for a 3-RRPS
From above characteristics, the relations between the number ... actuators, and design a 2-DOF parallel mechanism with ... DOF. (2) Highly precise positioning: The position error is not accumulated for ... configurations based on the arrangements of its six legs, ... The inverse kinematic analysis and ...... Machine Theory, Vol.
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FUNdaMENTALS of Design - MIT
Jan 1, 2008 ... The First Mechanism: The Lever is a 2-bar Linkage ... they are all based on simple elements, and the analysis of their motion is based .... The number of degrees-of-freedom (DOF) of a linkage is equal to ... coordinates required to define the position & orientation of an object .... links to no longer be parallel.
[ FUNdaMENTALs Topic 4.PDF - Read/Download File

Heriot-Watt University Reconfiguration analysis of a 4-DOF 3-RER
Parallel mechanisms (PMs) with multiple operation modes [2,3] (also called ... In the reconfiguration analysis, the methods based on algebraic geometry ... [13] , the position and orientation of the moving platform are represented ... In this section, we will first recall the definition and operation of Euler parameter quaternions ...
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Eclipse II: a new parallel mechanism enabling - IEEE Xplore
approximation coupled with perturbation analysis in a class of manu- facturing flow ... [5] C. G. Panayiotou and C. G. Cassandras, “Optimization of Kanban- based ... Theory Appl., vol. ... 2. Eclipse II mechanism and its 360 continuous rotational motions. ... 1) Given the position pand orientation R of the moving platform in.
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