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Enumeration of parallel manipulators
Robotica, 2009SUMMARYIn this paper, we present a new method of enumeration of parallel manipulators with one end-effector. The method consists of enumerating all the manipulators possible with one end-effector that a single kinematic chain can originate. A very useful simplification for kinematic chain, mechanism and manipulator enumeration is their representation ...
Roberto Simoni +2 more
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Mobile 6‐SPS Parallel Manipulators
Journal of Robotic Systems, 2003AbstractIn this paper some special constructions of 6‐SPS parallel manipulators are presented whose platforms, with fixed actuators, are shaky in all possible positions and consequently mobile within their prospective workspace—a behavior which has been called “architectural mobility.” Constructions of such manipulators should be known to the designer ...
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2016
The first robot manipulator selected to exemplify the application of the kinematic analysis method proposed in this book is a partially decoupled five-degree-of-freedom parallel manipulator generator of the 3R2T motion.
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The first robot manipulator selected to exemplify the application of the kinematic analysis method proposed in this book is a partially decoupled five-degree-of-freedom parallel manipulator generator of the 3R2T motion.
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Sequence Manipulation Using Parallel Mapping Networks
Neural Computation, 1991We describe a parallel mapping matrix that performs several types of sequence manipulations that are the building blocks of well-known phonological processes. Our results indicate that human phonological behavior can by modeled by a highly constrained connectionist architecture, one that uses purely feedforward circuitry and imposes tight limits on ...
David S, Touretzky, Deirdre W, Wheeler
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TOPOLOGICAL SYNTHESIS OF TRANSLATIONAL PARALLEL MANIPULATORS
Transactions of the Canadian Society for Mechanical Engineering, 2009For translational parallel manipulators (TPMs), topology synthesis methods that can be found in the literature are mainly based on screw theory, instantaneous kinematics, or group theory. In this work, finite displacement equations are used for the topology synthesis of TPM.
Xiaoyu Wang, Luc Baron
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Force Transmissibility Performance of Parallel Manipulators
Journal of Robotic Systems, 2003AbstractIn this paper, a new force transmission index called the mean force transmission index (MFTI) is proposed, and the force transmissibility analysis procedure is established for parallel manipulators. TheMFTIis an extended definition of the force transmission index (FTI) introduced by the authors previously.
Chang, W.T., Lin, C.C., Lee, J.J.
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A Translational 3-dof Parallel Manipulator
1998This paper presents a new architecture of a three degree-of-freedom parallel manipulator that, if properly assembled, exhibits pure translational motion of the output link (platform) with respect to the frame (base). To prove the existence of a pure translational motion a mobility analysis of the manipulator has been carried out.
Di Gregorio, R, Parenti-Castelli, V
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Parallel manipulators and Borel–Bricard problem
Computer Aided Geometric Design, 2010zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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3RRRS+3RRPS Parallel Manipulator
2016The combination of rotary and linear actuators in a parallel manipulator is an interesting option to overcome some of its limitations, such as its well-known limited workspace and recurrent problem of singular configurations. This chapter uses screw theory to address the kinematics of a six-degree-of-freedom parallel manipulator provided with a ...
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2016
This chapter reports on the kinematics of a symmetric three-legged six-degree-of-freedom parallel manipulator equipped with a combination of rotary and linear actuators. The introduction of this class of robot manipulators has been a recursive option to avoid the complexity of the forward displacement analysis of the general hexapod.
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This chapter reports on the kinematics of a symmetric three-legged six-degree-of-freedom parallel manipulator equipped with a combination of rotary and linear actuators. The introduction of this class of robot manipulators has been a recursive option to avoid the complexity of the forward displacement analysis of the general hexapod.
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