By J. Aguirrebeitia, R. Avilés, I. Fernandez de Bustos, M. Abasolo (auth.), Fernando Viadero, Marco Ceccarelli (eds.)

This ebook includes the papers of the eu convention on Mechanisms technology (EUCOMES 2012 Conference). The e-book offers the newest examine advancements within the mechanism and laptop technological know-how box and their purposes.

Topics addressed are theoretical kinematics, computational kinematics, mechanism layout, experimental mechanics, mechanics of robots, dynamics of equipment, dynamics of multi-body platforms, regulate problems with mechanical platforms, mechanisms for biomechanics, novel designs, mechanical transmissions, linkages and manipulators, micro-mechanisms, educating equipment, historical past of mechanism technology and business and non-industrial applications.

This quantity also will function an enticing reference for the eu job within the fields of Mechanism and computer technology in addition to a resource of inspirations for destiny works and developments.

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Using the inverse geometrical model the analytical workspace for the proposed structure has been determined. Workspace and Singularity Point Analysis of a 6-DOF Parallel Mechanism. . 35 Fig. 1 Structural overview and reference coordinate systems The analytical method of workspace determination consists of point-to-point determination of the position for the E point of the end-effector. The predetermined volume is bigger than the final workspace, precisely because all the possible positions must be included.

22(5), 1011–1017 (2006) 8. : Workspace and singularity analysis of a 3-DOF planar parallel manipulator with actuation redundancy. Robotica 27(1), 51–57 (2009) 9. : Kinematic and dynamic modeling of parallel robots. Editura Dacia, Cluj Napoca (2005) 10. : Jacobian analysis of limited-DOF parallel manipulators. Trans. ASME J. Mech. Des. 124, 254–258 (2002) 11. : Kinematic sensitivity analysis of the 3-UPU parallel mechanism. Mech. Mach. Theory 37, 787–798 (2002) 12. : Constraint singularities of parallel mechanisms.

The robot workspace representation is shown in Fig. 3. A total of 3,090,240 points were checked and verified, with 1,225,662 points validated. The workspace volume of the robot is about 60% of the robot volume. 4 The Kinematic Model Using kinematic analysis the mathematical relationship between end-effector position and orientation in relation to the reference coordinate system can be determined, as well as the actuators coordinates. In the case of kinematic analysis there are two distinct challenges: the direct kinematics and inverse kinematics problem.

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