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

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Standardization: A Logical Step in Sustained Space Explorationbility, modularity, and commonality. The practice of developing unique mission-specific robots operating independently and communicating through custom interfaces will have to give way to standardization.

潜伏期

The Impact of Friction on the Dynamics of Parallel Robotic Manipulatorsshown, how friction characteristics can be identified independently from any other dynamic influences. Two sections are considered to the practical issues of friction in terms of feedforward and time-optimal control.

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CLAP

Improvement of Positioning Accuracy of PAMINSA (Parallel Manipulator of the I.N.S.A.) of two correcting systems mounted on the drive system of the vertical displacements. The second solution is carried out by a correcting mass mounted on the platform. The suggested solutions are illustrated by the numerical examples and the performances of such a design are shown.

GULP

Workspace Comparison of Kinematically Redundant Planar Parallel Manipulatorso similar non-redundant ones. It is shown here that both reachable and dexterous workspaces of the redundant manipulators are significantly larger compared to non-redundant manipulators of the same size. As a result, kinematic redundancy can be an appropriate solution for improving parallel manipulators’ characteristics.

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