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TAO par syntaxeur parallele ArchiMer
Diaz, C.
In remote control, the master element which the user operates looks for practical and historical reasons like the slave arm and therefore features a series architecture, with a few drawbacks in terms of mass, dimensions, rigidity and mechanical complexity. To remedy these defects, we are now introducing a new master element with parallel kinematics. This syntactor, derived from Steward's manipulators, has six degrees of freedom and comprises six motor-driven links arranged on a fixed plate (the base) and a moving plate on which a 6-axis force transducer and a handle are mounted. The device is made artificially free along a few or all axes by means of a hybrid position/force control software which translates the wrench of forces applied by the operator on...
Tipo: Text Palavras-chave: Transducers; Manipulators; Robots; Marine technology; Kinematics.
Ano: 1990 URL: http://archimer.ifremer.fr/doc/1990/acte-1142.pdf
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