Titlebook: ROMANSY 16; Robot Design, Dynami Teresa Zielińska,Cezary Zieliński Book 20061st edition CISM Udine 2006 Motor.architecture.biomechanics.des

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Virtual Prototyping of a New Parallel Robot for Milling on the example of a new 3-DOF parallel manipulator design. For this manipulator, two dynamic models were created and verified: multibody model for simulating the manipulator’s dynamic behaviour and the analytical, structural one, for designing of a controller. An initial controller was virtually de

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The Impact of Friction on the Dynamics of Parallel Robotic Manipulatorsipation in all passive and active joints are uniformly formulated and transformed in the actuation space in parameter-linear form. Furthermore, it is shown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical is

AROMA

Workspace Comparison of Kinematically Redundant Planar Parallel Manipulatorsundant and redundant planar parallel manipulators are compared. The advantages of redundant versus non-redundant parallel manipulators are discussed. Thereafter, two kinematically redundant planar parallel manipulators, one with 4 degrees of freedom (DOF), the other a new 6DOF design, are compared t

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Dexterity Analysis of Planar Parallel Manipulatorsin that a set of Cartesian velocities is expressed in either the moving or global frame which is then used to represent the end effector velocity. Therefore, the resulting Jacobian matrices are different depending on the method used. However, both methods formulate the Jacobian matrices based on an

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