to DMG-Lib main page
Home  · Site map  · Contact  ·
DMG-Lib Home + News
Browse
Search
Experience DMG-Lib
About us
Help
 		 
Advanced Search   Mechanism Search

Análisis de Precisión de Manipuladores Paralelos
thumbnail
Dokument öffnen (benötigt JavaScript)   Open document

General information
Author Aginaga, Jokin
Published  Universidad del País Vasco, Bilbao, 2011
Edition  
Extend  
ISBN
Abstract Análisis de Precisión de Manipuladores Paralelos.
"Análisis de Precisión de Manipuladores Paralelos". Procedente de la Tesis doctoral de Jokin Aginaga realizada en la universidad del País Vasco.
Collections
Scientific publications
2000 and later
Images
 
Diagram of a 6-RUS parallel manipulator
Click to enlarge
Prototype of a 6-RUS parallel manipulator
Click to enlarge
6-RUS type parallel manipulator as a positioning table.
Click to enlarge
Diagram of a 3-PRS type parallel manipulator
Click to enlarge
Stiffness matrix determinant
Click to enlarge
Components classification of Da Vinci machines.
Click to enlarge
Limestone machine by Leonardo da Vinci
Click to enlarge
Watt regulator
Click to enlarge
Equivalent element with clearance
Click to enlarge
Parallel planar 5R mechanism
Click to enlarge
Free body diagram of the point P
Click to enlarge
K component of each kinematic chain
Click to enlarge
Free body diagram of the AiBi bar
Click to enlarge
Working modes of the 5R mechanism
Click to enlarge
Stiffness of the 5R mechanism
Click to enlarge
Max stiffness positions
Click to enlarge
Min stiffness positions
Click to enlarge
Type III singularities of the 5R mechanism
Click to enlarge
Stiffness for other geometrical parameters
Click to enlarge
Used nomenclature for the parallel mechanism 6-RUS
Click to enlarge
Finite element model of the rod
Click to enlarge
Two different solutions for the inverse kinematics
Click to enlarge
Stiffness representation in the x-y plane
Click to enlarge
Stiffness representation in a Z-Phi plane
Click to enlarge
X-Y-Z representation of the translation stiffness index
Click to enlarge
Instrumentation setting
Click to enlarge
Stiffness possible values
Click to enlarge
Comparison of stiffness
Click to enlarge
Error calculation procedure
Click to enlarge
Rotation Joints with clearances
Click to enlarge
Relative coordinates of the 5R mechanism
Click to enlarge
Contact model of a planar joint
Click to enlarge
CAD model of the PAR2 robot
Click to enlarge
Pick-and-place path
Click to enlarge
Pick-and-place error
Click to enlarge
Joint forces
Click to enlarge
Passive angle variation
Click to enlarge
Simulated and nominal path
Click to enlarge
Machining moment
Click to enlarge
Machining error
Click to enlarge
Joint forces along the machining
Click to enlarge
Passive angles variations
Click to enlarge
Simulated and nominal path
Click to enlarge
Workspace error
Click to enlarge
Workspace error for a vertical load
Click to enlarge
Geometric place of reactions
Click to enlarge
Geometric place for null moments
Click to enlarge
5R mechanism with clearances in a discontinuity position
Click to enlarge
Pick-and-place discontinuities
Click to enlarge
Period influence in the position error
Click to enlarge
Spatial revolute joint with clearance
Click to enlarge
Spherical joint with clearance
Click to enlarge
R-S part of the kinematic chain
Click to enlarge
Workspace error of the 3-PRS manipulator
Click to enlarge
Error for radial clearance in revolute joints
Click to enlarge
Error for axial clearance in revolute joints
Click to enlarge
Error for spherical joints with radial clearance
Click to enlarge
Position velocity and acceleration in theta
Click to enlarge
Dynamic and static position error
Click to enlarge
Static and dynamic position error
Click to enlarge
Error calculation procedure
Click to enlarge
Local base in the 5R mechanism
Click to enlarge
Load in the free extreme
Click to enlarge
Uniformed distributed loads
Click to enlarge
Variable distributed load
Click to enlarge
Real path
Click to enlarge
Error from the clearances
Click to enlarge
Error from the deformation
Click to enlarge
Error from the clearances and deformations
Click to enlarge
3 PRS manipulator architecture
Click to enlarge
Local references system
Click to enlarge
3-PRS machine tool
Click to enlarge
Parasite motions
Click to enlarge
Real motion of the point Q
Click to enlarge
Path error from parasite motions
Click to enlarge
Error from the clearances and deformations in P
Click to enlarge
Error from clearances and deformations in Q
Click to enlarge
Error caused by deformations in P
Click to enlarge
Error in Q in the x-y plane caused by clearances and deformations
Click to enlarge
Linked items
Images: Relative coordinates of the 5R mechanism
Permanent links
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=21375009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_21375009.html
Data provider
UBCUniv. Basque C.  http://www.ehu.es/compmech/welcome/Home.html
Administrative information
Time of publication 2011

×