Titlebook: ROMANSY 11; Theory and Practice Adam Morecki,Giovanni Bianchi,Cezary Rzymkowski Book 1997 Springer-Verlag Wien 1997 control.design.develop

Flirtatious

Group Theoretical Synthesis of Binary Manipulatorsnary manipulators constructed from pneumatic cylinders are both light weight and inexpensive, requiring minimal feedback hardware and trivial computer interfaces. However, for the benefits of binary actuation to be realized, methods developed in the pure mathematics literature over that past thirty

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Humble

Optimal Design of a Shape Memory Alloy Actuator for Microgrippers combination of two SMA actuators installed on the links of a special mechanism: one of them drives the rotation of the joint and the other one produces the necessary force to manipulate objects. An accurate model of the thermo-mechanical behavior of SMA fibers is proposed for the design of SMA actu

谄媚于人

Workspaces of Planar Parallel Manipulatorsne orientation in a given range, can be obtained. Then, the . workspace, i.e., the region which can be reached by point . with every orientation of the platform in a given range, is determined. Three types of planar parallel manipulators are described and one of them is used to illustrate the algorithms.

evasive

Designing Manipulators for Both Kinematic and Dynamic Isotropic Propertiesstribution. We present necessary and sufficient conditions for having both good kinematic and dynamic isotropic properties, and illustrate these concepts with results obtained for a 2R planar manipulator.

Dysarthria

Group Theoretical Synthesis of Binary Manipulatorsyears must be used to make the design and inverse kinematics of these manipulators tractable. As is demonstrated, the Fourier transform of functions on the Euclidean motion group is a powerful tool which can be used to this end.

dry-eye

Distributed Kinematic Design from Task Specificationn of this paper is a distributed method for the kinematic design from task specification of all kinds of manipulators. The proposed methodology is illustrated with the synthesis of planar mechanisms and a 6-degrees-or-freedom manipulator.

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LATHE

Nonlinear Control of a Parallel Robot Including Motor Dynamics perturbation method. To validate the proposed corrective controller, the passivity concept and singular perturbation techniques are considered. Simulation tests are presented that confirm the efficiency of the proposed nonlinear control law.