


Registros recuperados: 25  

 

 

 

 

 


Hag Seong Kim. 
This paper proposes and implements the task space approach of a robust nonlinear control with the system state and friction estimation methodologies for the parallel manipulator which is a representative multiinput & multioutput nonlinear system with uncertainties. In order to implement the proposed robust nonlinear control law, the indirect 6 DOF system state estimator is firstly employed and confirmed the outstanding effects experimentally. The indirect system state estimation scheme consists of NewtonRaphson method and the alphabeta tracker algorithm, which is simple route and readily applicable to a real system instead of a costly 6 DOF sensor or a modelbased nonlinear state observer with the actuator length measurements. Secondly, the... 
Tipo: 22 
Palavraschave: Parallel Manipulators; New Developments. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/task_space_approach_of_robust_nonlinear_control_for_a_6_dof_parallel_manipulator 
 


Hongliang Cui; Zhenqi Zhu; Zhongxue Gan; Torgny Brogardh. 
It can be observed from the results, that Jacobian Matrix is effective with an accuracy up to 1.53 um with an input error of 1 mm (Link 1 of lower arm 1). This was verified using ADAMS simulation results. Results from NR method match very well with ADAMS simulation with a difference of only 0.06 um. Based on the DH model and an accurate Jacobian matrix, a series of results have been presented including error analysis, forward kinematic, redundant variable determination, error budget, and Jacobian approximation method. The Jacobian approximation method can be used in online control of the robot. For the TAU robot, a closed form solution of a forward kinematic problem is reached with a high accuracy instead of NR numerical solution. The simulation... 
Tipo: 13 
Palavraschave: Parallel Manipulators; New Developments. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_tau_robot 
 

 

 

 

 


KiUk Kyung; DongSoo Kwon. 
This chapter deals with tactile displays and their mechanisms. We briefly reviewed research history of mechanical type tactile displays and their parallel arrangement. And this chapter mainly describes two systems including tactile displays. The 5x6 pin arrayed tactile display with parallel arrangement of piezoelectric bimorphs has been described in the section 3. The tactile display has been embedded into a mouse device and the performance of the device has been verified from pattern display experiment. Another focus of this chapter is describing a compact tactile display module and verifying its performance in a penlike form factor. As described in section 4, a small, safe, low power consuming, silent and light tactile display module with parallel and... 
Tipo: 23 
Palavraschave: Parallel Manipulators; New Developments. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/tactile_displays_with_parallel_mechanism 
 

 

 


Massimo Callegari. 
The article has described an innovative spherical parallel wrist developed at the Polytechnic University of Marche in Ancona, revisiting all the main design steps, from kinematic synthesis up to physical prototyping. Machine kinematics has been worked out in closed form and all the singularity surfaces have been analysed: it has been pointed out that the mechanism does not possess inverse kinematics singularities, while direct kinematics singularities and translation singularities lie on the same closed surface. The inner space, where motion paths can be safely planned, has been identified and unfortunately it cannot be enlarged by kinematics optimisation because machine's Jacobian does not depend on geometrical parameters. For this reason, it was decided... 
Tipo: 9 
Palavraschave: Parallel Manipulators; New Developments. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/design_and_prototyping_of_a_spherical_parallel_machine_based_on_3cpu_kinematics 
 

 

 


Stefan Uhlar; Peter Betsch. 
We have shown that the proposed rotationless formulation of multibody dynamics is wellsuited for the energymomentum conserving integration of both openloop and closedloop multibody systems. Although the use of rotations has been completely circumvented throughout the whole discretization, jointforces can still be applied to a specific multibody system by resorting to the proposed coordinate augmentation technique. The present developments have been restricted to the planar case. However, it is important to note, that the extension to the threedimensional setting can be performed without any conceptual differences. Similarly, alternative types of joints belonging to the class of lower kinematic pairs such as cylindric joints can be easily incorporated... 
Tipo: 5 
Palavraschave: Parallel Manipulators; New Developments. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/conserving_integrators_for_parallel_manipulators 
 


Tarik Cakar; Harun Resit Yazgan; Rasit Koker. 
The genetic algorithms (GA) have the great advantage and success in the solution of NP problems. There are various important applications on this way. In this study, the job with nnumber of precedence constraints is assigned minimizing total earliness and tardiness and maximum flow time on mnumber of parallel machine. Genetic algorithms and simulated annealing methods were used to find the solutions, which minimizes the total earliness and tardiness costs. In GA, the solution alternatives, which were obtained by using genetic operators, were investigated to understand that if they are feasible or not and the feasible ones according to precedence constraints were considered. The way, trying to make infeasible solutions feasible, was not selected.... 
Tipo: 8 
Palavraschave: Parallel Manipulators; New Developments. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/parallel_robot_scheduling_with_genetic_algorithms 
 

 
Registros recuperados: 25  


