By P. Dietmaier (auth.), Jadran Lenarčič, Manfred L. Husty (eds.)

The contributions during this publication have been offered on the 6th overseas symposium on Advances in robotic Kinematics organised in June/July 1998 in Strobl/Salzburg in Austria. The previous symposia of the sequence came about in Ljubljana (1988), Linz (1990), Ferrara (1992), Ljubljana (1994), and Piran (1996). Ever considering that its first occasion, ARK has attracted the main amazing authors within the sector and controlled to create an ideal mixture of professionalism and pleasant athmosphere. we're completely satisfied to watch that, even with a robust pageant of many overseas meetings and conferences, ARK is continuous to develop when it comes to the variety of individuals and by way of its medical influence. In its ten years, ARK has contributed to advance a outstanding clinical neighborhood within the quarter of robotic kinematics. The final 4 symposia have been organised below the patronage of the overseas Federation for the idea of Machines and Mechanisms -IFToMM. curiosity to researchers, doctoral scholars and academics, The ebook is of engineers and mathematicians specialising in kinematics of robots and mechanisms, mathematical modelling, simulation, layout, and regulate of robots. it's divided into sections that have been chanced on because the common parts of the modern kinematics examine. because it can simply be spotted, a major a part of the ebook is devoted to varied points of the kinematics of parallel mechanisms that persist to be the most appealing components of study in robotic kinematics.

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Sample text

The Tsai manipulator provides the platform with a pure translational motion with respect to the base. The model presented in (Parenti-Castelli et aI, 1998) retained only the topology of the Tsai manipulator taking into account a quite general geometry. In particular each leg of the mechanism (connecting base and platform) was modeled as a serial chain, called for brevity an RRPRR chain, comprising four passive revolute (R) kinematic pairs and one actuated prismatic (P) pair (see Fig. 2). The resulting parallel mechanism is still a three dof mechanism and can be referred to as 3-(RRPRR) PM, 3 being the number of legs.

A TRANSLATIONAL 3-DOF PARALLEL MANIPULATOR R. DI GREGORIO" AND V. it •• University of Bologna, Dept. it Abstract. This paper presents a new architecture of a three degree-of-freedom parallel manipulator that, if properly assembled, exhibits pure translational motion of the output link (platform) with respect to the frame (base). To prove the existence of a pure translational motion a mobility analysis of the manipulator has been carried out. Moreover, a singularity analysis has also been conducted that shows the occurrence of configurations of the manipulator where the pure translational feature is no longer controllable.

Spherical coordinates are used to obtain the inverse kinematics equation of the structure. Then, the inverse differential kinematics mapping is derived in terms of the inverse Jacobian and, in force of duality, the inverse statics mapping is also derived. Such mappings are effectively used to perform a velocity and force analysis by means of manipulability ellipsoids (Yoshikawa 1985), demonstrating the features of the structure from a design standpoint. The above Jacobians are at the basis of an algorithm to solve the direct kinematics problem which is developed by transposition of the well-known Closed-Loop Inverse Kinematics (CLIK) algorithm (Siciliano 1990) used for open-chain manipulators.

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