Kinematic modeling and optimization of a new reconfigurable parallel mechanism
Mechanism and Machine Theory, 2020 This paper investigates a new reconfigurable parallel mechanism consisting of three SvPS kinematic limbs. Induced by phase changes of a metamorphic spherical variable-axis joint (Sv), the SvPS limb is capable of changing to two typical configurations, of
W. Ye, Xinxue Chai, Ketao Zhang
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Design and analysis of a partially decoupled generalized parallel mechanism for 3T1R motion
Mechanism and Machine Theory, 2019 Compared with conventional parallel manipulators with serial kinematic chains supporting a nonflexible platform, generalized parallel mechanisms may be further constrained by interconnected coupling sub-chains or configurable platforms.
Chunxu Tian, Yuefa Fang, Q. Ge
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Geometric Construction-Based Realization of Spatial Elastic Behaviors in Parallel and Serial Manipulators [PDF]
, 2018 This paper addresses the realization of spatial elastic behavior with a parallel or a serial manipulator. Necessary and sufficient conditions for a manipulator (either parallel or serial) to realize a specific elastic behavior are presented and ...
Huang, Shuguang, Schimmels, Joseph M.
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Multibody Dynamics of Nonsymmetric Planar 3PRR Parallel Manipulator with Fully Flexible Links
Applied Sciences, 2020 This paper presents the implementation of the floating frame of reference formulation to model the flexible multibody dynamics of a nonsymmetric planar 3PRR parallel manipulator.
Abdur Rosyid, Bashar El-Khasawneh
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A Deformable Configuration Planning Framework for a Parallel Wheel-Legged Robot Equipped with Lidar
Sensors, 2020 The wheel-legged hybrid robot (WLHR) is capable of adapting height and wheelbase configuration to traverse obstacles or rolling in confined space. Compared with legged and wheeled machines, it can be applied for more challenging mobile robotic exercises ...
Fei Guo +3 more
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Parallel Mechanisms. Parallel CMM (Coordinate Measuring Machine Using Parallel Mechanism).
Journal of the Japan Society for Precision Engineering, 1997 本解説では,座標測定機の種々の構成を紹介し,新しい座標測定機としてパラレルCMMの構成を考えた.しかし,4章に示したようにパラレルCMMの実用化には多くの課題が残されている.これを解決するためにはいくつかの基本的なアイデアの実用化が必要である.特に絶対的な校正の問題は,多関節タイプやスカラタイプの座標測定機を含めて大きな課題であると考えている.直交型の座標測定機が座標測定機として成熟しつつあることを考えると,パラレルCMMは,その高速性を生かしたり,小さくて高精度の座標測定を目指したり,逆に大きくて低価格な測定機を目指すなど,直交型の座標測定機とのうまい住み分けを目指す必要があると考えている.
Kiyoshi TAKAMASU, Masahiko HIRAKI
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Machines, 2023 In this paper, a spatial parallel mechanism with five degrees of freedom is studied in order to provide a promising dynamic model for the control design.
Dingxu Guo +3 more
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Kinematic Calibration Method for Six-Hardpoint Positioning Mechanisms Using Optimal Measurement Pose
Applied Sciences, 2023 In this study, a kinematic calibration method is proposed. The method selects the optimal measurement poses based on the observability index O1, and is used for six-hardpoint positioning mechanisms, which can identify and compensate for kinematic ...
Zhiyuan Yu, Xiaoxia Wu, Fuguo Wang
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Kinematic Analysis of a Serial - Parallel Machine Tool: the VERNE machine [PDF]
, 2008 The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.
Chablat, Damien +2 more
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Contact Quantization: Quantum Mechanics = Parallel transport [PDF]
Archivum Mathematicum, 2018 Quantization together with quantum dynamics can be simultaneously formulated as the problem of finding an appropriate flat connection on a Hilbert bundle over a contact manifold. Contact geometry treats time, generalized positions and momenta as points on an underlying phase-spacetime and reduces classical mechanics to contact topology.
Herczeg G., Latini E., Waldron A.
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