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Espacios de Trabajo Asociados a Modos de Ensamblado de Robots Paralelos
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General information
Author Macho Mier, Erik
Published  Universidad del País Vasco, Bilbao, 2009
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ISBN
Abstract "Espacios de Trabajo Asociados a Modos de Ensamblado de Robots Paralelos"
"Espacios de Trabajo Asociados a Modos de Ensamblado de Robots Paralelos". Universidad del País Vasco, Bilbao, Tesis doctoral (Ph.D. thesis). (2009).
Collections
Scientific publications
2000 and later
Images
 
5R parallel manipulator. Working mode change
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5R parallel mnipulator. Singularity free regions overlap
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5R parallel manipulator. Enlarged operational workspace
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5R parallel manipulator. Singularities in the joint space
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5R parallel manipulator. Singularity free regions
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5R parallel manipulator. Path planning
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5R parallel manipulator. Path planning
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5R parallel manipulator. Path planning
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5R parallel manipulator. Comparison between path planning
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5R parallel manipulator. Path int enlarged operational workspace
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5R parallel manipulator. Path planning in the workspace and in the joint
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Reduced configuration space
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3-RSS parallel manipulator
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3-RSS parallel manipulator. Working modes
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3-RSS parallel manipulator. Assembly modes
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3-RSS parallel manipulator. Workspace
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3-RSS parallel manipulator. Direct kinematic singularities
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3-RSS parallel manipulator. Direct singularities associated with working modes
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3-RSS parallel manipulator. Enlarged operational workspace
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3-RSS parallel manipulator. Workspace size comparison
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3-RSS parallel manipulator. Path planning in all working modes
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3-RSS parallel manipulator. Transition gate between two working modes
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3-RSS parallel manipulator. Path planning
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3RRR parallel manipulator
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3RRR parallel manipulator. Working modes
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3RRR parallel manipulator. Direct position solutions
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3RRR parallel manipulator. Workspace
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3RRR parallel manipulator. Direct singularity locus
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3RRR parallel manipulator. Direct singularities
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3RRR parallel manipulator. Singularity free regions
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3RRR parallel manipulator. Singularity free regions with negative Jacobian
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3RRR parallel manipulator. Enlarged operational workspaces
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6RSS parallel manipulator
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6RSS parallel manipulator. Output and input variables
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6RSS parallel manipulator. Constant orientation workspace
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6RSS parallel manipulator. Constant orientation workspace
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3RPR parallel mnipulator. Nomenclature
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3RPR parallel manipulator. Direct position problem solutions
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3RPR parallel manipulator. Workspace with actuator range limits
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3RPR parallel manipulator. Direct kinematic singularity geometric condition
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3RPR parallel manipulator. Characteristic polynomial roots evolution
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3RPR parallel manipulator. Direct position problem solutions evolution along the motion
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3RPR parallel manipulator. Direct singularities locus
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3RPR parallel manipulator. Solutions in the same workspace singularity free region
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3RPR parallel manipulator. Singularity free path between two direct position problem solutions
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3RPR parallel manipulator. Joint space
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3RPR parallel manipulator. Regions of the joint space
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Parallel manipulator with coupled degrees of freedom. 3-RPS
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Euler angles. ZYZ
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5R planar manipulator. Workspace
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5R parallel manipulator. Assembly modes
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5R parallel manipulator. Nomenclature
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5R parallel manipulator. Working modes
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5R parallel manipulator. Assembly modes
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5R parallel manipulator. Inverse kinematic singularities
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5R parallel manipulator. Working mode change
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5R parallel manipulator. Direct kinematic singularities.
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5R parallel manipulator. Assembly mode change
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5R parallel manipulator. Increase mobility singularity
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5R parallel manipulator. Combined singularities
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5R parallel manipulator. Non singular posture over a direct singularity curve
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5R parallel manipulator. Direct singularities
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3-RSS parallel manipulator. Singularity free regions associated with an assembly mode for all working modes
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6RSS parallel manipulator. Direct singularity locus.
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3RPR parallel manipulator. Position in the joint space and solutions in the workspace
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3RPR parallel manipulator. Cusp curves in the singularity surface in the joint space
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3RPR parallel manipulator. Singularity locus in the worspace for congruent platforms
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3RPR parallel manipulator. Singularity locus in the joint space for congruent platforms
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3RPR parallel manipulator. Position in the joint space and solutions in the workspace for congruent platform
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3RPR parallel manipulator. Singularity surface disection for congruent platforms
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3RPR parallel manipulator. Singularity surface in the workspace
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Singular transition between solutions of the direct position problem
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Singular transition between solutions of the direct position problem in the reduced configuratin space
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Non singular transition between solutions of the direct position problem in thre reduce configuration space
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3RPR parallel manipulator. Nomenclature and solutions of the direct position problem
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3RPR parallel manipulator. Singularity surface, solutions of the direct position problem and non singular transition
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3RPR parallel manipulator. Joint space and non singular transition between solutions of the direct position problem
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3RPR parallel manipulator. Non singular transition in the reduced configuration space
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Non singular transition between solutions of the direct position problem in the reduced configuration space
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3PRR planar parallel manipulator
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3PRR parallel manipulator. Reduced configuration space
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3PRR parallel manipulator. Non singular transition between solutins of the direct position problem
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3PRR parallel manipulator. Non singular transition between direct solutions encircling a double point
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3PRR parallel manipulator. Non singular transitions of the direct problem encircling a cuspidal folding in the reduced configuration space
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3PRR parallel manipulator. Non singular transition between direct solutions encircling a cusp point in the joint space in the reduced joint space
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3RRR planar parallel manipulator with concurrent fixed joints
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3RRR parallel manipulator. Reduced configuration space
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3RRR parallel manipulator. Transition between solutions on disjoint sheets
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3RRR parallel manipulator. Transition between solutions on adjacent sheets
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3RRR parallel manipulator. Transition between solutions on the same sheet
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3RRR parallel manipulator. Transition between direct solutions using a helicoydal
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RPR-2PRR planar parallel manipulator
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Parallel manipulator. Moving platform and kinematic chains
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Parallel manipulator. Moving platform modelling
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Output variables
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Output variables in spatial manipulators
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Output variables in spherical fully parallel manipulators
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Parallel manipulator. RRR kinematic chain
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Planar parallel manipulator. Kinematic chains
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Spatial parallel manipulator. Kinematic chains
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Planar parallel manipulator. Maximal workspace
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Planar parallel manipulator. Constant orientation workspace
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Parallel manipulator workspace.
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Parallel manipulator workspace. Singularity free regions
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Parallel manipulator workspace. Color map of the value of the inverse Jacobian
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2-RPR planar parallel manipulator. Workspace and singularities
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2-RRR planar parallel manipulator. Workspace and singularities
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2-PRR parallel manipulator. Workspace and singularities
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2-PPR planar parallel manipulator. Workspace and singularities
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3-RPR planar parallel manipulator. Workspace and singularities
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3-RRR planar parallel manipulator. Workspace and singularities
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3-PRR parallel manipulator. Workspace and singularities
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3-RRP planar parallel manipulator. Workspace and singularities
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3-RPP parallel manipulator. Workspace and singularities
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3-PPR planar parallel manipulator. Workspace and singularities
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Design of the interface of a mechanism geometry definition software
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Mechanism geometry definition software. Planar node
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Mechanism geometry definitions software. Planar node in polar coordinates
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Mechanism geometric definition software.
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Mechanism geometry definition software. Spatial node in spherical coordinates
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Mechanism geometric definition software.
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Mechanism geometric definition software. Slider node
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Spherical joint
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Revolute joint
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Mechanism geometry definition software. Revoute joint exat orientations
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Cardan joint in 3d
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Mechanism geometric definition software. Cardan joint orientation
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Mechanism geometry definition software. Cardan joint orientation in perpendicular configuration
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Cylindrical joint
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Piston kinematic scheme
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Parallel manipulator worskpace computation software interface
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5R parallel manipulator. Disjoint workspace
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5R parallel manipulator. Inverse kinematic singularity locus
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Parallel manipulator workpace. Inverse kinematic singularities refinement
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Parallel manipulator workspace. Inverse Jacobian value color map
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Parallel manipulator workspace. Direct kinematic singularity locus
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Parallel manipulator workspace.
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Parallel manipulator workspace. Direct Jacobian value color maps
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Parallel manipulator workspace. Singularity free regions for the same assembly mode
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Parallel manipulator workspace.
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Parallel manipulator workspace. Constant orientation workspace
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Parallel manipulator orientation workspace. Singularity free regions.
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Parallel manipulator maximal o whole workspace
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Parallel manipulators joint spaces
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Parallel manipulator reduced joint space and reduced configuration space
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3RPR planar parallel manipulator. Constant actuator workspace
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3RRR planar parallel manipulator. Constant actuator workspace
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3RRR planar parallel manipulator. Constant actuator workpace and reduced configurations space
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3PRR parallel manipulator. Constant actuator workspace
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3PRR planar parallel manipulator. Reduced configuration space
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Planar parallel manipulator. Solutions of the direct position problem
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Parallel manipulator workcpace. Jacobian indicators
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Parallel manipulator workspace. Kinematic chain.
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Parallel manipulator workspace computation software. Clipping plane
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2RRR planar parallel manipulator. Workspace singularity free regions
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2PRR planar parallel manipulator. Workspace singularity free regions
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2PPR planar parallel manipulator. Workspace singularity free regions
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3RPR planar parallel manipulator. Singularity free regions
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3RRR planar parallel manipulator. Singularity free regions
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3PRR planar parallel manipulator. Singularity free regions
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3RRP planar parallel manipulator. Constant orientation workspace singularity free regions and singular surface
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3RPP planar parallel manipulator. Singularity free regions
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3PPR planar parallel manipulator. Singularity free regions.
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RPR-2PRR planar parallel manipulator. Reduced configuration space
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RPR-2PRR planar parallel manipulator. Reduce joint spaces
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RPR-2PRR planar parallel manipulator. Sharp points
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RPR-2PRR planar parallel manipulator. Characteristic polynomial and roots in a sharp point
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RPR-2PRR planar parallel manipulator. Cusp points
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RPR-2PRR planar parallel manipulator. Characteristic polynomial and roots in a cusp point
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RPR-2PRR planar prallel manipulator. Characteristic polynomial and roots in a double point
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RPR-2PRR planar parallel manipulator. Singularity curves evolution
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RPR-2PRR planar parallel manipulator. Cusp points and double points
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RPR-2PRR planar praallel manipulator. Cusp locus
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RPR-2PRR planar parallel manipulator. Non singular transition betwee assembly modes
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RPR-2PRR planar parallel manipulator. Trajectories encircling cusp points
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RPR-2PRR planar parallel manipulator. Trajectory around cusp points in the joint space.
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RPR-2PRR planar parallel manipulator. Triple coalesce of solutions locus
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RPR-2PRR planar parallel manipulator. Non singular assembly mode change.
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Linked items
Images: 5R parallel manipulator. Non singular posture over a direct singularity curve
Permanent links
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=13370009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_13370009.html
Data provider
UBCUniv. Basque C.  http://www.ehu.es/compmech/welcome/Home.html
Administrative information
Time of publication 2009

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