کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
802377 904382 2009 20 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
PAMINSA: A new family of partially decoupled parallel manipulators
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی صنعتی و تولید
پیش نمایش صفحه اول مقاله
PAMINSA: A new family of partially decoupled parallel manipulators
چکیده انگلیسی

In this paper, a new family of parallel manipulators called PAMINSA is presented. The particularity of these manipulators is the decoupling of the displacements of the platform in the horizontal plane from its translation along the vertical axis. Such a decoupling allows the cancellation of the loads of gravity on the actuators which displace the platform in the horizontal plane. Parallel mechanisms from 3 to 6 degrees of freedom based on this property are systematized and the advantages of each are presented. The classification, singularity analysis and input torques optimization are then discussed. A prototype of the proposed manipulator with four degrees of freedom and experimental validations of the suggested concept are also presented. All obtained numerical simulations are approved by experimental tests.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 44, Issue 2, February 2009, Pages 425–444
نویسندگان
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