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Design, Analysis and Applications of a Class of New 3-DOF Translational Parallel Manipulators InTech
Yangmin Li; Qingsong Xu.
In this chapter, a new class of translational parallel manipulator with 3-PCR architecture has been proposed. It has been shown that such a mechanism can act as an overconstrained 3DOF translational manipulator with some certain assembling conditions satisfied. Since the
Tipo: 24 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/design__analysis_and_applications_of_a_class_of_new_3-dof_translational_parallel_manipulators
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Dynamics and Control for Nonholonomic Mobile Modular Manipulators InTech
Yangmin Li; Yugang Liu.
In this chapter, 3-wheeled nonholonomic mobile modular manipulators are investigated. First, an integrated modelling method is proposed in consideration of the nonholonomic constraints and the interactive motions. Second, a model based controller and a robust adaptive controller are presented in task space directly. Third, simulations are carried out on a mobile modular manipulator composed of a 3-wheeled mobile platform and a 4-DOF onboard modular manipulator, and the simulation results demonstrate the effectiveness of the proposed algorithms. The proposed algorithms can be easily extended to some other mobile manipulators as well.
Tipo: 2 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/dynamics_and_control_for_nonholonomic_mobile_modular_manipulators
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