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A Novel 4-DOF Parallel Manipulator H4 InTech
Jinbo Wu; Zhouping Yin.
Tipo: 19 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_novel_4-dof_parallel_manipulator_h4
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A Reconfigurable Mobile Robots System Based on Parallel Mechanism InTech
Wei Wang; Houxiang Zhang; Guanghua Zong; Zhicheng Deng.
The modular reconfiguration robot has the ability of changing its configuration which makes it more suitable for complex environments. In contrast to conventional theoretical research, the project introduced in this paper successfully completes the following innovative work. a) It proposes a robot named JL-I which is based on a modular reconfiguration concept. The advantages and the characteristics of the mechanism are analysed. The robot features a docking mechanism with which the modules can connect or disconnect flexibly. The active spherical joints formed by serial and parallel mechanisms endow the robot with the ability of changing shapes in three dimensions. b) A kinematics model of reconfiguration between two modules is given. The relationship of...
Tipo: 16 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_reconfigurable_mobile_robots_system_based_on_parallel_mechanism
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Acceleration Analysis of 3-RPS Parallel Manipulators by Means of Screw Theory InTech
J. Gallardo; H. Orozco; J.M. Rico; C.R. Aguilar; L. Perez.
In this work the kinematics, including the acceleration analysis, of 3-RPS parallel manipulators has been successfully approached by means of screw theory. Firstly, the forward position analysis was carried out using recursively the Sylvester dialytic elimination method, such a procedure yields a 16-th polynomial expression in one unknown, and therefore all the possible solutions of this initial analysis are systematically calculated. Afterwards, the velocity and acceleration analyses are addressed using screw theory. To this end, the velocity and reduced acceleration states of the moving platform, with respect to the fixed platform are written in screw form through each one of the three limbs of the manipulator. Simple and compact expressions were derived...
Tipo: 16 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/acceleration_analysis_of_3-rps_parallel_manipulators_by_means_of_screw_theory
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Advanced Synthesis of the DELTA Parallel Robot for a Specified Workspace InTech
M.A. Laribi; L. Romdhane; S. Zeghloul.
An optimal dimensional synthesis method suited for the DELTA robot was presente in this paper. An objective function, used the concept of the power of a point,which reflects the position of a point with respect to the boundary of the workspace. This objective function allowed us to find the robot having the smallest workspace containing a prespecified region.
Tipo: 10 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/advanced_synthesis_of_the_delta_parallel_robot_for_a_specified_workspace
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Application of Neural Networks to Modeling and Control of Parallel Manipulators InTech
Ahmet Akbas.
This chapter is mainly concerned with the application of ANNs to modeling and control of parallel manipulators. A practical implementation is completed to emulate the operation of
Tipo: 2 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/application_of_neural_networks_to_modeling_and_control_of_parallel_manipulators
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Architecture Design and Optimization of an On-the-Fly Reconfigurable Parallel Robot InTech
Allan Daniel Finistauri; Fengfeng (Jeff) Xi; Brian Petz.
A novel method for the architecture design of a reconfigurable parallel robot is presented based on common actuation devices. System design techniques are used to classify parallel robot modules and enumeration rules are established to determine the feasible robot architectures. Branch kinematics are developed and a workspace analysis is performed. An optimal design is selected from the remaining discrete robot configurations. The final design is a self-reconfigurable parallel robot that has the ability to perform on-the-fly reconfiguration. The proposed reconfigurable parallel robot not only provides innovation in reconfigurable system design but also stimulates new research into parallel robot kinematics.
Tipo: 18 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/architecture_design_and_optimization_of_an_on-the-fly_reconfigurable_parallel_robot
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Asymptotic Motions of Three-Parametric Robot Manipulators with Parallel Rotational Axes InTech
Jan Baksa.
1
Tipo: 3 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/asymptotic_motions_of_three-parametric_robot_manipulators_with_parallel_rotational_axes
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Calibration of 3-DOF Translational Parallel Manipulators Using Leg Observations InTech
Anatol Pashkevich; Damien Chablat; Philippe Wenger; Roman Gomolitsky.
Recent advances in parallel robot architectures encourage related research on kinematic calibration of parallel mechanisms. This paper proposes a novel calibration approach based on observations of manipulator leg parallelism with respect to the Cartesian planes. Presented for the Orthoglide-type mechanisms, this approach may be also applied to other manipulator architectures that admit parallel leg motions (along the Cartesian axes) or, in more general case, allow locating the leg in several postures with a common intersection point. The proposed calibration technique employs a simple and low-cost measuring system composed of standard comparator indicators attached to the universal magnetic stands. They are sequentially used for measuring the deviation of...
Tipo: 11 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/calibration_of_3-dof_translational_parallel_manipulators_using_leg_observations
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Cartesian Parallel Manipulator Modeling, Control and Simulation InTech
Ayssam Elkady; Galal Elkobrosy; Sarwat Hanna; Tarek Sobh.
The research presented in this chapter establishes the CPM as a viable robotic device for three degrees of freedom manipulation. The manipulator offers the advantages associated with other parallel manipulators, such as light weight construction; while avoiding some of the traditional disadvantages of parallel manipulators such as the extensive use of spherical joints and coupling of the platform orientation and position. The CPM employs only revolute and prismatic joints to achieve translational motion of the moving platform. The main advantages of this parallel manipulator are that all of the actuators can be attached directly to the base, closed-form solutions are available for the forward and inverse kinematics, and the moving platform maintains the...
Tipo: 13 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/cartesian_parallel_manipulator_modeling__control_and_simulation
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Certified Solving and Synthesis on Modeling of the Kinematics. Problems of Gough-Type Parallel Manipulators with an Exact Algebraic Method InTech
Luc Rolland.
Tipo: 9 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/certified_solving_and_synthesis_on_modeling_of_the_kinematics__problems_of_gough-type_parallel_manip
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Conserving Integrators for Parallel Manipulators InTech
Stefan Uhlar; Peter Betsch.
We have shown that the proposed rotationless formulation of multibody dynamics is wellsuited for the energymomentum conserving integration of both open-loop and closed-loop multibody systems. Although the use of rotations has been completely circumvented throughout the whole discretization, joint-forces 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 three-dimensional 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 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/conserving_integrators_for_parallel_manipulators
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Control of a Flexible Manipulator with Noncollocated Feedback: Time Domain Passivity Approach InTech
Jee-Hwan Ryu; Dong-Soo Kwon; Blake Hannaford.
In this paper, we propose a stability guaranteed control scheme of noncollocated feedback control systems without any model information. The main contribution of this research is proposing a method to implement the PO/PC for a possibility active plant due to the noncollocated feedback. We separate the active plant into passive one and a transfer function from the collocated output to the noncollocated output. Therefore, the control system can be fit to our PO/PC framework. As a result, we can achieve stable control even for the noncollocated control system.
Tipo: 20 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/control_of_a_flexible_manipulator_with_noncollocated_feedback__time_domain_passivity_approach
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Control of Cable Robots for Construction Applications InTech
Alan Lytle; Fred Proctor; Kamel Saidi.
This chapter presented new research developments at NIST in control algorithms and controller design for parallel robots applied to Construction applications. In particular, this research focused on the NIST RoboCrane platform for automated placement of construction components. This work was the first to demonstrate the use of a laser-based site measurement system for 6 degree-of-freedom tracking of a robotic crane, and presented new methods for incorporating pose estimation errors in a compensation transform for the NIST GoMotion controller. Finally, this work presented task decomposition approaches for analyzing and automating construction crane operations based on a NIST 4D/RCS approach.
Tipo: 1 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/control_of_cable_robots_for_construction_applications
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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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Design and Prototyping of a Spherical Parallel Machine Based on 3-CPU Kinematics InTech
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 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/design_and_prototyping_of_a_spherical_parallel_machine_based_on_3-cpu_kinematics
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Dynamic Model of a 6-dof Parallel Manipulator Using the Generalized Momentum Approach InTech
Antonio M. Lopes; Fernando Almeida.
Dynamic modelling of parallel manipulators presents an inherent complexity. Despite the intensive study in this topic of robotics, mostly conducted in the last two decades, additional research still has to be done in this area. In this paper an approach based on the manipulator generalized momentum is explored and applied to the dynamic modelling of parallel manipulators. The generalized momentum is used to compute the inertial component of the generalized force acting on the mobile platform. Each manipulator rigid body may be considered and analyzed independently. Analytic expressions for the rigid bodies' inertia and Coriolis and centripetal matrices are obtained, which can be added, as they are expressed in the same frame. Having these matrices, the...
Tipo: 4 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/dynamic_model_of_a_6-dof_parallel_manipulator_using_the_generalized_momentum_approach
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Dynamic Modelling and Vibration Control of a Planar Parallel Manipulator with Structurally Flexible Linkages InTech
Bongsoo Kang; James K. Mills.
In this chapter, the equations of motion for the planar parallel manipulator are formulated by applying the Lagrangian equation of the first type. Introducing Lagrangian multipliers simplifies the complexities due to multiple closed loop chains of the parallel mechanism and the structurally flexible linkages. An active damping approach applied to two different piezoelectric materials, which are used as actuators to damp unwanted vibrations of flexible
Tipo: 21 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/dynamic_modelling_and_vibration_control_of_a_planar_parallel_manipulator_with_structurally_flexible_
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Dynamic Parameter Identification for Parallel Manipulators InTech
Vicente Mata; Nidal Farhat; Miguel Diaz-Rodriguez; Angel Valera; Alvaro Page.
In this chapter, the problem of the identification of inertia and friction parameters for parallel manipulators was addressed. In the first part of the chapter an overview of the identification process applied to parallel manipulators was presented. First, the dynamic model was obtained in a systematic way starting from the Gibbs-Appell equations of motion. This dynamic model was reduced to a subset of parameters called base parameters by means of SVD. After that and to ensure the minimal input/output error transmissibility, approaches to obtaining optimized trajectories that have to be used in the identification process were presented. In the second part of the chapter, a direct identification approach was implemented on a 3-DOF RPS parallel manipulator...
Tipo: 2 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/dynamic_parameter_identification_for_parallel_manipulators
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Dynamics of Hexapods with Fixed-Length Legs InTech
Rosario Sinatra; Fengfeng Xi.
In this chapter, the inverse dynamics of hexapods with fixed-length legs is analyzed using the natural orthogonal complement method, with considering the mass of the moving platform and those of the legs. A complete kinematics model is developed, which leads to an explicit expression for the twist-mapping matrix. Based on that, the inverse dynamics equations are derived that can be used to compute the required applied actuator forces for the given movement of the moving platform. The developed method has been implemented and demonstrated by simulation. Successively, the static balancing of hexapods is addressed. The expression of the global center of mass is derived, based on which a set of static balancing equations has been obtained. It is shown that...
Tipo: 12 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/dynamics_of_hexapods_with_fixed-length_legs
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Error Modeling and Accuracy of TAU Robot InTech
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 N-R method match very well with ADAMS simulation with a difference of only 0.06 um. Based on the D-H 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 on-line 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 N-R numerical solution. The simulation...
Tipo: 13 Palavras-chave: Parallel Manipulators; New Developments.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/error_modeling_and_accuracy_of_tau_robot
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