Static balancing and dynamic modeling of a three-degree-of-freedom parallel kinematic manipulator

2011 ◽  
Author(s):  
Dan Zhang ◽  
Feng Gao ◽  
Xiaolin Hu ◽  
Zhen Gao
Keyword(s):  
Dynamic Modeling ◽  
Degree Of Freedom ◽  
Static Balancing ◽  
Parallel Kinematic Manipulator ◽  
Parallel Kinematic ◽  
Three Degree Of Freedom

scholarly journals PATH PLACEMENT OPTIMIZATION OF MANIPULATORS BASED ON ENERGY CONSUMPTION: APPLICATION TO THE ORTHOGLIDE 3-AXIS

2009 ◽  
Vol 33 (3) ◽  
pp. 523-541 ◽  
Author(s):  
Raza Ur-Rehman ◽  
Stéphane Caro ◽  
Damien Chablat ◽  
Philippe Wenger
Keyword(s):  
Energy Consumption ◽  
Optimal Path ◽  
Electric Energy ◽  
Optimal Location ◽  
Degree Of Freedom ◽  
Parallel Kinematic Machine ◽  
Dynamic Constraints ◽  
Placement Optimization ◽  
Parallel Kinematic ◽  
Three Degree Of Freedom

This paper deals with the optimal path placement for a manipulator based on energy consumption. It proposes a methodology to determine the optimal location of a given test path within the workspace of a manipulator with minimal electric energy used by the actuators while taking into account the geometric, kinematic and dynamic constraints. The proposed methodology is applied to the Orthoglide 3-axis, a three-degree-of-freedom translational parallel kinematic machine (PKM), as an illustrative example.

Static Balancing of Tensegrity Mechanisms

2006 ◽  
Vol 129 (3) ◽  
pp. 295-300 ◽  
Author(s):  
Marc Arsenault ◽  
Clément M. Gosselin
Keyword(s):  
Degree Of Freedom ◽  
Static Balancing ◽  
Equilibrium Configurations ◽  
Balancing Conditions ◽  
Three Degree Of Freedom

The computation of the equilibrium configurations of tensegrity mechanisms is often a very tedious task even for relatively simple architectures. However, it has been observed that the complexity of this problem is significantly reduced when gravitational loads are compensated with the use of static balancing techniques. In this work, the general static balancing conditions are adapted for the case of tensegrity mechanisms. Afterward, the modified conditions are applied to two new spatial three-degree-of-freedom tensegrity mechanisms.

Static Balancing of Tensegrity Mechanisms

2005 ◽  
Author(s):  
Marc Arsenault ◽  
Cle´ment M. Gosselin
Keyword(s):  
Degree Of Freedom ◽  
Static Balancing ◽  
Equilibrium Configurations ◽  
Balancing Conditions ◽  
Three Degree Of Freedom

The computation of the equilibrium configurations of tensegrity mechanisms is often a very tedious task even for relatively simple architectures. However, it has been observed that the complexity of this problem is significantly reduced when gravitational loads are compensated with the use of static balancing techniques. In this work, the general static balancing conditions are adapted for the case of tensegrity mechanisms. Afterwards, the modified conditions are applied to two new spatial three-degree-of-freedom tensegrity mechanisms.

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