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Caracterización del comportamiento estructural de manipuladores de cinemática paralela
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General information
Author Corral Saiz, Javier
Published  Universidad del País Vasco, Bilbao, 2011
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ISBN
Abstract "Caracterización del comportamiento estructural de manipuladores de cinemática".
"Caracterización del comportamiento estructural de manipuladores de cinemática". Universidad del País Vasco, pp. 407, Bilbao, Tesis doctoral (Ph.D. thesis). (2011).
Collections
Scientific publications
2000 and later
Images
 
Various configurations of the Tripod manipulator
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CaPaMan: Cassino parallel manipulator
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Isoglide 4 parallel manipulator prototype
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Universal and spherical joints
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Variants of spherical compliant joint
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Delta parallel robot CAD model
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Ingersoll Octahedral machining center
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Experiments design selection flow chart
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Displacement measurement system
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Kinematic joints based on compliant structures
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Hexell parallel manipulator
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Kinematic diagram of a two degree-of-freedom parallel manipulator
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Planar parallel manipulator with flexible links
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Actuated and sensorized planar parallel manipulator
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Tau manipulator
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Machining center based on Hexaglide parallel robot
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Lumped parameters dynamic model of an hexapod
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3-PRS parallel manipulator prototype
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R-dyad geometric configurations
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Geometric parameters of the R-dyad elastic model
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Analytic model of a rotational joint
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Elastic model of a rotational axis
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Degrees of freedom in an elastic beam
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Local reference systems in a matrix structural model
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Stiffness of a parallel manipulator leg
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R-dyad CAD model with kinematic constraints
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R-dyad MEF model postprocessing
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R-dyad instrumentation for static analysis
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Measurement cycle for experimental stiffness
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Experimental preload selection graph
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Stiffness models correlation for R-dyad
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Experimental stiffness 3D map of the R-dyad
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DAEDALUS I parallel manipulator kinemtaic skeleton
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Connectivity Diagram of the DAEDALUS I manipulator
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DAEDALUS I parallel manipulator practical workspace
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DAEDALUS I parallel manipulator prototype
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Experimental stiffness measurement kit
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Experimental test points for stiffness analysis
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Experimental stiffness map of the DAEDALUS I manipulator
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Stiffness as a function of parallel manipulator orientation
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Analytic model for vertical stiffness
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Translational vertical stiffness map of a parallel manipulator
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Translational vertical stiffness vs. orientation of the mobile platform
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Matrix structural model of a parallel manipulator
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FEM reduced model of DAEDALUS I parallel manipulator
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Stiffnes maps comparison of DAEDALUS I parallel manipulator
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First ten vibration frequencies values of the R-dyad
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First shape mode of the R-dyad
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Variation of the first ten natural frequencie of the R-dyad
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Segundo modo de deformación de la díada R
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Third mode shape of the R-dyad
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Lumped parameter dynamic model of the R-dyad
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Impact hammer for vibratory analysis
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Piezoelectric transducers
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FFT analyser for vibratory experiments study
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First natural frequency comparison for the R-dyad
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Mesh detail of the FEM simplified model
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Kinematic relations of the DAEDALUS I
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First mode shape of the DAEDALUS I simplified model
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Second mode shape of DAEDALUS I simplified model
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Third mode shape of DAEDALUS I simplified model
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4th mode shape of DAEDALUS I simplified model
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First ten frequencies map of the DAEDALUS I manipulator
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First natural frequency map. FEM model
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Local map of the foorth natural frequency
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First and second natural frequencies of a parallel manpulator
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Natural frequencies crossing analysis for parallel manipulator
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DAEDALUS I FEM model
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Elements interference in a parallel manipulator
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Mode shape of deformation
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Single leg bending mode shape
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Experimental vibratory set up in a parallel manipulator
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Frequency response function for a parallel manipulator
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Kinematic eskeleton of ARABA I low mobility parallel manipulator
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ARABA I parallel manipulator workspace
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Serial and parallel configuration deformation
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Equivalent stiffness scheme for parallel arrangement
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ARABA I parallel manipulator prototype
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Serial and parallel configuration workspace comparison
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Experimental setup for stiffness analysis
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Displacements analysis of the FEM model of a mobile platform
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kzz stiffness component variation
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One degree of freedom equivalent dynamic model
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Natural frequencies crossing
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Vibratioin analysis experimental setup
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Routing process with traditional machine
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Routing sketch
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Cutting edge trajectories for elastic and rigid tool
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Surface location error dscription
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Surface location error in a work plane
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Parallel manipulator workspace based on SLE
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Rounting process model diagram
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Dynamic chip depth and its efect
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Lobes diagram
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Axial depth of cut maps
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Lobes superposition diagram
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Frequency of chatter maps
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Chatter free workspace
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Routing performed by a parallel manipulator
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Machining example with a parallel manipulator
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Strucutral workspace in X direction
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Leonardo da Vinci's crane sketch
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Watt's machine
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Honda ASIMO robot
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Parallel manipulators' applications
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GMF Robotics S300 serial robot
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Inndustrial serial robot
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Mars eplorer robot
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Cleaning robot
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Educational robot
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IRB 660 serial robot workspace
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Accuracy parameters of a serial manipulator
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Serial manipulator load capacity diagram
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Pick and place cycle
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Serial robots kinematic and dynamic characteristics
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Evolution timeline for parallel manipulators
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Adept Quattro parallel manipulator and its workspace
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IRB 360 parallel manipulator and its workspace
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7 DOF hybrid manipulator
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Model and prototype of a varible geometry structure
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Deployable Structure mast
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Deployable structure in deployed configuration
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Astronomical deployable antenna
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Deployable hexahedral structure
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Deployable tetrahedral structure
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Serial and parallel characteristics
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Machining center based on a parallel configuration
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Serial chain positioining parameters
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Parallel manipulator sketch
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Gough-Stewart parallel manipulator with orientable actuators
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Compliance ellipsoid
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Orthoglide parallel machine
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Kinematic skeleton of the Tricept parallel manipulator
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Linked items
Images: R-dyad geometric configurations
Permanent links
DMG-Lib FaviconDMG-Lib https://www.dmg-lib.org/dmglib/handler?docum=21382009
Europeana FaviconEuropeana  http://www.europeana.eu/portal/record/2020801/dmglib_handler_docum_21382009.html
Data provider
UBCUniv. Basque C.  http://www.ehu.es/compmech/welcome/Home.html
Administrative information
Time of publication 2011

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