Seghiri. " Etude cinématique d'un robot parallèle à trois segments actifs et un segment central passif ". "A three translational DoFs parallel cube-manipulateur". Postdoctoral Research Report Tsinghua University. "Mechanical and kinematics design of parallel robotic mechanisms with less than six degrees of freedom". "Kinematics analysis of a parallel robot with 3 DOF and 4 segments in pure translation". ASME Design Engineering Technical Conferences (DETC 2000). "A geometrical algorithm for the computation of the costant-orientation workspace of 6-RUS parallel manipulators". "Workspace analysis of PRRS parallel manipulators based on the vertex space concept". "Operational envelopes for working bodies of mechanisms and manipulators". "Determination of the workspace of 6-dof parallel manipulators". "Kinematic analysis of a novel platform". Thèse présentée à l'université de Savoie. Benea. "Contribution à l'étude des robots pleinement parallèles de type 6 R-RR-S". "The work space of general geometry planar three-degree-of-freedom plat-form type manipulator". "Operational envelope of a spatial Stewart platform". "The kinematics of a class of 3 DOF 4-legged parallel manipulators". "Kinematic analysis of translation at platform". "Optimal Kinematics design of spatial parallel manipulators: application of linear Delta-Robot". "Position analysis of a new family of 3 d.o.f. "A family of 3 - Dof translational parallel manipulators". "Kinematics synthesis of spatial 3- RPS parallel manipulator". pure translational parallel manipulators". "Kinematics condition analysis of three d.o.f. Gosselin. "Nouvelle architecture pour un manipulateur parallèle à six degrés de liberté". "Assembly Configurations of some In-Parallel-Actuated Manipulators". UK Institution of Mechanical Engineers Proceedings. "A platform with six degrees of freedom". "Contribution to discussion of papers on research in automobile stability, control and tyre performance". Keywords: Geometrical model, parallel manipulator, passive segment, Jacobian matrix, workspace, singularity. A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models. Moreover, the analysis of the Jacobian matrix has permitted to ensure that there are no singularities of type 1 and 2 in such a structure. A determination of the workspace based on the geometrical model analysis is derived followed by a numerical calculation of all the atteignables points enabling a graphical visualisation of such a workspace. Further, we determine the reciprocal relations between cartesian and angular velocities of the end-effector via articular velocities by simple derivation of the direct geometrical model expressions. We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix. This structure provides a pure translation motion. This paper presents a geometrical model of a constrained robot of three degrees of freedom (d.o.f) added to a PPP passive central segment. Palabras clave: Modelo geométrico, manipulador paralelo, segmento pasivo, matriz Jacobiana, espacio de trabajo, singularidad. Se ha realizado un prototipo de robot paralelo en nuestro laboratorio para validar los modelos propuestos. Por otra parte, el análisis de los coeficientes de la matriz Jacobiana permite asegurar que no haya singularidades del tipo 1 y 2 en tal estructura. Una determinación del espacio de trabajo basado en el análisis del modelo geométrico es derivado seguido por un cálculo numérico de todos los puntos que deben alcanzarse permitiendo una visualización gráfica de tal espacio de trabajo. Además, determinamos las relaciones recíprocas entre las velocidades cartesianas y angulares del end-effector vía velocidades articulares por la derivación simple de las expresiones del modelo geométrico directo. También determinaremos las relaciones entre las velocidades generalizadas y articulares usando la matriz Jacobiana inversa. Esta estructura proporciona un movimiento de translación pura. E-mail: trabajo presenta el modelo geométrico de un robot paralelo con tres grados de libertad (d.o.f) agregados a un segmento central pasivo del PPP. E-mail: LMECA, ESIA - Savoie University BP 806, 74016. KINEMATICS ANALYSIS OF A PARALLEL ROBOT WITH A PASSIVE SEGMENTĪNÁLISIS DE LA CINEMÁTICA DE UN ROBOT PARALELO CON UN SEGMENTO PASIVOĪbdelhakim Cherfia 1 Abdelouahab Zaatri 1 Max Giordano 2ġ Mechanical Engineering Department.
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