Kinematics analysis of a parallel robot with 3 dof and 4 segments in pure translation
Other Title(s)
نموذج لروبوت متوازي للتأكد من صحة الأنماط المستعملة
Joint Authors
Sharifah, A.
Zatari, A.
Giordano, M.
Source
Issue
Vol. 31, Issue 2 (30 Jun. 2006), pp.1-12, 12 p.
Publisher
Mansoura University Faculty of Engineering
Publication Date
2006-06-30
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Topics
Abstract AR
UPS في هذا المقال يتم دراسة مسألتي الحركة المباشرة و الحركة العكسية لربوت متوازي ذو لإعطاء الروبوت حركة انزلاقية PPP ثلاث درجات من الحرية و وصلة مركزية نوضح كذلك العلاقة بين السرعة في مجال العمل للروبوت و السرعة في المفاصل، و عكس ذلك، أي المرور من السرعة في المفاصل و الوصول إلى سرعة أداة عمل الروبوت.
هذه الدراسة يراد منها وضع برمجة التحكم في روبوت متوازي.
تم انجاز في المخبر، نموذج لروبوت متوازي للتأكد من صحة الأنماط المستعملة.
Abstract EN
In this paper we present the direct and inverse analysis of a geometrical model of an UPS manipulator with three degrees of freedom added to a PPP passive central segment.
This structure provides a pure translation motion.
We will also determine the relations between generalized and articular velocities by using the inverse Jacobian matrix.
Further, we determine the reciprocal relations between cartesian and angular velocities of the endeffector via articular velocities by direct re-inversion of the Jacobian matrix.
This study aims of implementing the control of a parallel robot manipulator.
A prototype of a parallel robot has been built up in our laboratory in order to validate the proposed models.
American Psychological Association (APA)
Sharifah, A.& Zatari, A.& Giordano, M.. 2006. Kinematics analysis of a parallel robot with 3 dof and 4 segments in pure translation. Mansoura Engineering Journal،Vol. 31, no. 2, pp.1-12.
https://search.emarefa.net/detail/BIM-364091
Modern Language Association (MLA)
Sharifah, A.…[et al.]. Kinematics analysis of a parallel robot with 3 dof and 4 segments in pure translation. Mansoura Engineering Journal Vol. 31, no. 2 (2006), pp.1-12.
https://search.emarefa.net/detail/BIM-364091
American Medical Association (AMA)
Sharifah, A.& Zatari, A.& Giordano, M.. Kinematics analysis of a parallel robot with 3 dof and 4 segments in pure translation. Mansoura Engineering Journal. 2006. Vol. 31, no. 2, pp.1-12.
https://search.emarefa.net/detail/BIM-364091
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 12
Record ID
BIM-364091