scholarly journals A Study on Abbe's Principle of Six Degree-of-Freedom Parallel Mechanism. Effect of Joint Runout on Motion Error of Mechanism.

2003 ◽  
Vol 69 (678) ◽  
pp. 472-477 ◽  
Author(s):  
Takaaki OIWA ◽  
Masato TAMAKI
Keyword(s):  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Motion Error ◽  
Six Degree Of Freedom

Kinematic and Workspace Modelling of a 6-PUS Parallel Mechanism

2018 ◽  
Author(s):  
Jérôme Landuré ◽  
Clément Gosselin
Keyword(s):  
Kinematic Analysis ◽  
Parallel Mechanism ◽  
Inverse Kinematic ◽  
Degree Of Freedom ◽  
Accurate Description ◽  
Transmission Ratio ◽  
Inverse Kinematic Problem ◽  
Jacobian Matrices ◽  
Six Degree Of Freedom

This article presents the kinematic analysis of a six-degree-of-freedom six-legged parallel mechanism of the 6-PUS architecture. The inverse kinematic problem is recalled and the Jacobian matrices are derived. Then, an algorithm for the geometric determination of the workspace is presented, which yields a very fast and accurate description of the workspace of the mechanism. Singular boundaries and a transmission ratio index are then introduced and studied for a set of architectural parameters. The proposed analysis yields conceptual architectures whose properties can be adjusted to fit given applications.

Design of Statically Balanced Six-Degree-of-Freedom Parallel Mechanisms Based on Tensegrity System

2009 ◽  
Author(s):  
S. M. Mehdi Shekarforoush ◽  
Mohammad Eghtesad ◽  
Mehrdad Farid
Keyword(s):  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Parallel Mechanisms ◽  
Engineering Systems ◽  
Suitable Alternative ◽  
Tensegrity Systems ◽  
Six Degree Of Freedom

A parallel mechanism that is based on tensegrity system is studied in this article. Tensegrity systems are a suitable alternative for conventional engineering systems like mechanisms for some application. In this article, tensegrity mechanisms are classified into tensegrity mechanism with passive and active compliant components. Based on this classification, two types of six-degree-of-freedom parallel mechanism are proposed and kinematics and static of them are solved. The first type is the 6–6 tensegrity mechanism with passive compliant components and the second type is the 6-3 tensegrity mechanism with active compliant components.

A Gravity-Powered Mechanism for Extending the Workspace of a Cable-Driven Parallel Mechanism: Application to the Appearance Modelling of Objects

2010 ◽  
Vol 4 (4) ◽  
pp. 372-379 ◽  
Author(s):  
Clément Gosselin ◽  
◽  
Samuel Bouchard
Keyword(s):  
High Resolution ◽  
Parallel Mechanism ◽  
Light Field ◽  
Degree Of Freedom ◽  
Passive Mechanism ◽  
Six Degree Of Freedom

This paper presents a gravity-powered passive onedof mechanism used to extend the workspace of a six-degree-of-freedom cable-driven parallel mechanism. The passive mechanism is mounted on the platform of the cable-driven mechanism in order to increase the useful workspace of the system. The application that stimulated the development of the mechanism is a system for capturing the light field of an object to reproduce the appearance of artefacts. The concept is based on a six-degree-of-freedom (6-dof) cable-driven parallel mechanism that is used to move a high resolution camera around the object. The geometry of the mechanism is optimized in order to cover a workspace defined as a hemisphere centred on the object.

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