Nothing Special   »   [go: up one dir, main page]

Ryu et al., 2001 - Google Patents

Optimal architecture design of parallel manipulators for best accuracy

Ryu et al., 2001

Document ID
9973861994346180980
Author
Ryu J
Cha J
Publication year
Publication venue
Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No. 01CH37180)

External Links

Snippet

Presents a design optimization method of parallel manipulators for best accuracy. An accurate kinematic error model that relates every structural error source in the manipulator's structure to end-effector pose errors is derived for a HexaSlide type parallel manipulator …
Continue reading at ieeexplore.ieee.org (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40611—Camera to monitor endpoint, end effector position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand

Similar Documents

Publication Publication Date Title
Ryu et al. Volumetric error analysis and architecture optimization for accuracy of HexaSlide type parallel manipulators
Hassan et al. Modeling and design optimization of a robot gripper mechanism
Pashkevich et al. Stiffness analysis of overconstrained parallel manipulators
Huo et al. The self-adaptation of weights for joint-limits and singularity avoidances of functionally redundant robotic-task
Zhang et al. Design of a novel 5-DOF hybrid serial-parallel manipulator and theoretical analysis of its parallel part
Bounab Multi-objective optimal design based kineto-elastostatic performance for the delta parallel mechanism
Arian et al. Kinematic and dynamic analysis of the Gantry-Tau, a 3-DoF translational parallel manipulator
Yang et al. Computationally efficient inverse dynamics of a class of six-DOF parallel robots: Dual quaternion approach
Görgülü et al. Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method
Ryu et al. Optimal architecture design of parallel manipulators for best accuracy
Nguyen et al. Static and dynamic characterization of the 6-Dofs parallel robot 3CRS
Fan et al. A new approach to enhance the stiffness of heavy-load parallel robots by means of the component selection
Yuan et al. Error modeling and accuracy evaluation of parallel manipulators with mixed DoFs based on motion/force transmissibility and constrainability
Liao et al. The design of flexible robotic manipulators with optimal arm geometries fabricated from composite laminates with optimal material properties
Liégeois Performance and computer-aided design
Yang et al. On the workspace boundary determination of serial manipulators with non-unilateral constraints
Bi On adaptive robot systems for manufacturing applications
A Lara-Molina et al. Multi-objective design of parallel manipulator using global indices
Kirćanski Symbolic singular value decomposition for simple redundant manipulators and its application to robot control
Wolf et al. Investigation of singularities and self-motions of the 3-UPU robot
Mazare et al. Inverse dynamics of a 3-P [2 (US)] translational parallel robot
Liu et al. HANA: a novel spatial parallel manipulator with one rotational and two translational degrees of freedom
Carbone Stiffness analysis for grasping tasks
Gallardo-Alvarado et al. A simple method to solve the instantaneous kinematics of the 5-RUR parallel manipulator
Pashkevich et al. Stiffness analysis of multi-chain parallel robotic systems