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Método general para la resolución de la cinemática de posición de manipuladores paralelos
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General information
Author Alonso López, Antonio
Published  Universidad del País Vasco, Bilbao, 2008
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Abstract "Método general para la resolución de la cinemática de posición de manipuladores paralelos". .
"Método general para la resolución de la cinemática de posición de manipuladores paralelos". Universidad del País Vasco, Bilbao, Tesis doctoral (Ph.D. thesis). (2008).
Collections
Scientific publications
2000 and later
Images
 
Direct Kinematic Problem
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Inverse Kinematic Problem
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§24_57609_cut.png
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General method to resolve the kinematics of parallel manipulators position.
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Delta parallel manipulator
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Dimensions of Delta manipulator
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Polynomial continuation process
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Boxes in Interval Analysis
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Flight Simulator
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Final boxes using Interval Analysis
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Moving reference systems associated with diffrent platforms
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Five-point element
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Binary element
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Prismatic joint
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Mechanism modelling
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Solution positions of node ni
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Angular constraint
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Four-bar planar mechanism
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Circumferences associated with distance constraints
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Convergence process
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Aligned bars in a four-bar mechanism
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Convergence soution
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Slow convergence position
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Slow convergence position between distance and angular constraints
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Five-point spatial element
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Ternary elements
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Angular constraints to modelize ternary elements
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Prismatic joint modelling
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Spherical joint
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Revolute joint modelling
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Modelling the revolute joints betwwen elements
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Universal joint modelling
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Constraints for universal joint
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Angular constraints over the axes of a universal joint
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Modelling of a prismatic cylinder with spherical joint
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Constraints of a prismatic cylinder with fixed union
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Constraints of a prismatic cylinder with a revolute joint
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Modelling of 1-DoF spatial mechanism
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Inputs' increment
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First contraint
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Initial and final position of the mechanism
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Distance constraint in 3D space
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Angular constraint in 3D space
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Slow convergence in 3D
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Components of displacements associated with the distance constraints
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Slow convergence with two distance constraints and one angular constraint
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Motion components for two distance constraints and an angular one
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Applying 2 angular constraints
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Possible constraints between axes and nodes
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Constraints between axis and external node
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Constraints between axis and internal node
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Angular constraints in axes of the same element
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Similar constraints
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UCR platform
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Nodes and axes of UCR platform
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Constraints of UCR platform
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First constraint of the iterative sequence
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Iterative sequence of constraints
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a) Final position; b) Curve of convergence error
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Delta platform
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Distance constraints on the Delta platform
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Nomenclature of the nodes in Gough-Stewart platform
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Node path during the iterative process
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Elements of Capaman2 manipulator
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Constraints for each leg
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Octahedral Gough-Stewart platform
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Node and axis displacement
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Node displacement with auxiliar associated nodes
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Axes in one leg of UCR platform
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Redundant revolute joints
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Equivalence between the motion sequences of Maryland and Delta platforms
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Modelling of different kinematic chains
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Design module of GIM software
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Defining a node and a revolute joint in GIm software
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Simulation module in GIM software
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2-RPR planar parallel manipulator
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Adaptative structure
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Node path of octahedrical Gough-Stewart
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Nodes path in 3-RRS platform
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Nodes path of Capaman2 platform
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Nodes path in Daedalus platform
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Nodes path in Orthoglide parallel platform
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Nodes path in Tripod
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Linked items
Images: Components of displacements associated with the distance constraints
Permanent links
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Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_14451009.html
Data provider
UBCUniv. Basque C.  http://www.ehu.es/compmech/welcome/Home.html
Administrative information
Time of publication 2008

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