


Registros recuperados: 22  

 

 

 

 

 


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 laserbased site measurement system for 6 degreeoffreedom 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 
Palavraschave: Parallel Manipulators; Towards New Applications. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/control_of_cable_robots_for_construction_applications 
 

 

 


Rosario Sinatra; Fengfeng Xi. 
In this chapter, the inverse dynamics of hexapods with fixedlength 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 twistmapping 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 
Palavraschave: Parallel Manipulators; Towards New Applications. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/dynamics_of_hexapods_with_fixedlength_legs 
 

 

 


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 endeffectors 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 HexaWH 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 online and... 
Tipo: 17 
Palavraschave: Parallel Manipulators; Towards New Applications. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/hybrid_parallel_robot_for_the_assembling_of_iter 
 


Andreas Pott; Manfred Hiller. 
The contribution describes a general method for kinematic modeling of many widespread parallel kinematic machines, i.e. for the StewartGoughplatform, the Deltarobot, 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 closedform solution for the forward kinematics is available, the forcebased approach provides an efficient procedure... 
Tipo: 8 
Palavraschave: Parallel Manipulators; Towards New Applications. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/kinematic_modeling__linearization_and_firstorder_error_analysis 
 


JingShan Zhao Fulei Chu; ZhiJing 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 endeffector 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 
Palavraschave: Parallel Manipulators; Towards New Applications. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/mobility_of_spatial_parallel_manipulators 
 

 

 


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 modelbased 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 
Palavraschave: Parallel Manipulators; Towards New Applications. 
Ano: 2008 
URL: http://www.intechopen.com/articles/show/title/redundant_actuation_of_parallel_manipulators 
 

 

 
Registros recuperados: 22  


