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Registros recuperados: 22
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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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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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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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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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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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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 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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Feasible Human-Spine Motion Simulators Based on Parallel Manipulators InTech
Si-Jun Zhu; Zhen Huang; Ming-Yang Zhao.
Considering the characteristics of a human spine including nearly isotropic kinematical performance, fast speed, available under both active and passive modes and reachable workspace, three 3R2T 5-DoF fully-symmetrical parallel manipulators with base-actuator, including 5-RRR(RR), 5-(RRR)RR, 5-(RRR)(RR) are adopted as feasible human spine motion simulators. To decrease machining difficulty and guarantee the machining precision, 5RRR(RR) is designed and manufactured as the prototype of spine motion simulator. After comparing reachable workspace of the prototype and that of human spine, the future work are planned for further improving simulation capacity of the prototype.
Tipo: 22 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/feasible_human-spine_motion_simulators_based_on_parallel_manipulators
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Human Hand as a Parallel Manipulator InTech
Vladimir M. Zatsiorsky ad Mark L. Latash.
1
Tipo: 20 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/human_hand_as_a_parallel_manipulator
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Hybrid Parallel Robot for the Assembling of ITER InTech
Huapeng Wu; Heikki Handroos; Pekka Pessi.
A hybrid parallel robot with four additional serial motion axes is developed for carrying out the necessary machining and welding tasks in the assembling and repairing of the ITER Vacuum Vessel. The robot is capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably. The kinematics analysis of the robot is presented. The models are complex because of the redundant structure of the robot. The models are separately derived for the Hexa-WH and the carriage mechanism. An optimization algorithm finds the solution in the trajectory planning, ensuring the maximum stiffness during the robot motion. The experiments of the laser welding tests with the seam tracker have been carried out. Both the on-line and...
Tipo: 17 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/hybrid_parallel_robot_for_the_assembling_of_iter
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Kinematic Modeling, Linearization and First-Order Error Analysis InTech
Andreas Pott; Manfred Hiller.
The contribution describes a general method for kinematic modeling of many wide-spread parallel kinematic machines, i.e. for the Stewart-Gough-platform, the Delta-robot, and Linaglide machines. The kinetostatic method is applied for a comprehensive kinematic analysis of these machines. Based on that model, a general method is proposed to compute the linearization of the transmission behaviour from geometric parameters to the endeffector motion of these machines. By applying the force transmission method, one can perform a linearization with respect to all geometric parameters, for parallel kinematic machines. Especially in cases where no closed-form solution for the forward kinematics is available, the force-based approach provides an efficient procedure...
Tipo: 8 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/kinematic_modeling__linearization_and_first-order_error_analysis
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Mobility of Spatial Parallel Manipulators InTech
Jing-Shan Zhao Fulei Chu; Zhi-Jing Feng.
This chapter focuses on the mobility analysis and synthesis of spatial parallel manipulators. It focuses on developing an analytical methodology to investigate the instantaneous DOF of the end-effector of a parallel manipulator and the instantaneous controllability of the endeffector from the viewpoint of the possible actuation schemes for the parallel manipulator. Via comparing the differences and essential mobility of a set of underactuated, over actuated and equally actuated manipulators, this chapter demonstrates that the underactuated, over actuated and fully actuated manipulators are all substantially equally actuated mechanisms. This work is significantly important for a designer to contrive his or her manipulators with underactuated or over...
Tipo: 21 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/mobility_of_spatial_parallel_manipulators
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Optimal Design of Parallel Kinematics Machines with 2 Degrees of Freedom InTech
Sergiu-Dan Stan; Vistrian Maties; Radu Balan.
The fundamental guidelines for genetic algorithm to optimal design of micro parallel robots have been introduced. It is concluded that with three basic generators selection, crossover and mutation genetic algorithm could search the optimum solution or near-optimal solution to a complex optimization problem of micro parallel robots. In the paper, design optimization is implemented with Genetic Algorithms (GA) for optimization considering transmission quality index, design space and workspace. Genetic algorithms (GA) are so far generally the best and most robust kind of evolutionary algorithms. A GA has a number of advantages. It can quickly scan a vast solution set. Bad proposals do not affect the end solution negatively as they are simply discarded. The...
Tipo: 14 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/optimal_design_of_parallel_kinematics_machines_with_2_degrees_of_freedom
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Quantifying and Optimizing Failure Tolerance of a Class of Parallel Manipulators InTech
Chinmay S. Ukidve; John E. McInroy; Farhad Jafari.
6.1 Conclusions This work proves that for a certain class of parallel manipulators functioning about a single point in its workspace, the mean squared relative manipulability over all possible cases of a given number of actuator failures is always constant irrespective of the geometry of the manipulator. In this context, optimal fault tolerant manipulability is defined and quantified using a simple algebraic formulation. The definition is more suited to parallel manipulators since they can retain kinematic stability under failures which constitute loss of actuators. For micromanipulation, symmetric OGSPs can be designed to possess optimal manipulability under actuator failures. OGSP geometries that may be rendered singular due to faults can be identified...
Tipo: 3 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/quantifying_and_optimizing_failure_tolerance_of_a_class_of_parallel_manipulators
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Redundant Actuation of Parallel Manipulators InTech
Andreas Mueller.
In this chapter the dynamics modeling of redundantly actuated PKM is reviewed, and the redundancy resolution is addressed. The resolution takes into account different secondary tasks, such as backlash avoidance and stiffness control. It was aimed to point out the potential of redundant actuation, but also the challenges that need to be addressed. In this contribution the effect of kinematic parameter uncertainties on the control of redundantly actuated PKM is analyzed. It is shown how geometric uncertainties effect the control system. The application of standard model-based control schemes to redundantly actuated PKM is shown not only to change the control system, but also to change the way in which control forces act upon the system. A consequence thereof...
Tipo: 5 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/redundant_actuation_of_parallel_manipulators
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Robust, Fast and Accurate Solution of the Direct Position Analysis of Parallel Manipulators by Using Extra-Sensors InTech
Rocco Vertechy; Vincenzo Parenti-Castelli.
This chapter addresses the solution of the direct position analysis (DPA) of parallel manipulators. More specifically, it focuses on the determination of the actual configuration of parallel manipulators, which have legs of type UPS (where U, S and P are for universal, spherical and prismatic pairs respectively), by using extra-sensor data, that is a number of sensor data which is greater than the number of manipulator degrees of freedom. First, an extensive overview of the extra-sensor approaches that are available in the literature for the solution of the manipulator direct position analysis is provided. Second, a general method is described which makes it possible to solve accurately and in real-time the DPA of manipulators having general architecture,...
Tipo: 7 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/robust__fast_and_accurate_solution_of_the_direct_position_analysis_of_parallel_manipulators_by_using
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Size-adapted Parallel and Hybrid Parallel Robots for Sensor Guided Micro Assembly InTech
Kerstin Schoettler; Annika Raatz; Juergen Hesselbach.
Micro assembly tasks demand low assembly uncertainties in the range of a few micrometers. This request results from the small part sizes in the production of MST components and the resulting small valid tolerances. Since precision robots represent the central component of an assembly system, an appropriate kinematic structure is crucial. These kinematic structures can be serial, parallel or hybrid (serial/parallel). Although serial structures can be used for micro assembly, they have large moved masses and need a massive construction of the frame and robot links to obtain an appropriate repeatability. Therefore, some size-adapted parallel and hybrid parallel robot structures were presented in the previous sections. Very good repeatabilities were reached...
Tipo: 11 Palavras-chave: Parallel Manipulators; Towards New Applications.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/size-adapted_parallel_and_hybrid_parallel_robots_for_sensor_guided_micro_assembly
Registros recuperados: 22
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