Tytuł artykułu
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Wybrane pełne teksty z tego czasopisma
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Warianty tytułu
Konferencja
International Conference on Modelling and Simulation of the Friction Phenomena in the Physical and Technical Systems "FRICTION 2008" (5 ; 31.05-1.06.2008 ; Warsaw, Poland) ; French-Polish Seminar of Mechanics (16 ; 31.05-1.06.2008 ; Warsaw, Poland)
Języki publikacji
Abstrakty
There was solved a problem of inverse kinematics of parallel manipulator - tripod type (3RPS). Above relationships allow to calculate the length l of kinematic pairs with variable length - P type. Solving above system of equations one can solve a problem of inverse kinematics of similar parallel structures to presented ones in this work. Relationships can be used to create control algorithm of parallel mechanism. Simulations of equations (5), (6) and (7) were performed in LabVIEW software. Verification of equations will be conducted after development of physical model of manipulator and control algorithm with usage of these equations.
Czasopismo
Rocznik
Tom
Strony
104--108
Opis fizyczny
Bibliogr. 6 poz., rys.
Twórcy
autor
autor
autor
- Poznan University of Technology. Chair of Basic of Machine Design , dominikwilczynski@tlen.pl
Bibliografia
- Dasgupta, B., Mruthyunjaya, T.S., 2000, The Stewart platform manipulator: a review, Mechanism and Maschine Theory, 35, 15-40.
- Lee, K.-M., Shah, D.K., 1987, Kinematic Analysis of a Three Degrees of Freedom In-Parallel Actuated Manipulator, Proceedings of the IEEE International Conference on Robotics and Automation, 1, 351-357.
- Sherman, B.Z.M., Lang, Y.T., 2006, Kinematic and Dynamic Models of a Tripod System with a Passive Leg, IEEE/ASME Transactions on Mechatronics, 11.
- Terrier, M., Dugas, A., Hascoet, J.-Y., 2004, Qualification of parallel kinematics machines in high-speed milling on free form surfaces, International Journal of Machine Tools & Manufacture, 44, 865-877.
- Week, M., Staimer, D., 2002, Parallel Kinematic Machine Tools - Current State and Future Potentials, Annals of the CIRP, 51, 2, 671-681.
- Wrotny, L.T., 1998, Tasks from kinematics and dynamics of technological machines and industrial robots (original title in Polish: Zadania z kinematyki i dynamiki maszyn technologicznych i robotów przemysłowych), Oficyna Wydawnicza Politechniki Warszawskiej, Warszawa.
Typ dokumentu
Bibliografia
Identyfikator YADDA
bwmeta1.element.baztech-article-BWAD-0013-0011