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Control of a spherical parallel manipulator with three degrees of freedom
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany. (AASS MRO Lab)
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
2018 (engelsk)Inngår i: 35th Danubia-Adria Symposium on Advances in Experimental Mechanics: Extended abstracts / [ed] D. Ş. Pastramă, D. M. Constantinescu, Bukarest, Romania, 2018, s. 159-160Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In robotic applications, it is often necessary to orient a sensor quickly. Spherical parallel manipulators (SPM) are well suited for this purpose since they offer superior dynamics and structural stiffness as compared to serial manipulators. To control them, however, the kinematic equations have to be known. In this paper, a SPM with three degrees of freedom and the kinematic equations describing its mechanical properties are presented.

sted, utgiver, år, opplag, sider
Bukarest, Romania, 2018. s. 159-160
Emneord [en]
Spherical parallel manipulator, control
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Maskinteknik
Identifikatorer
URN: urn:nbn:se:oru:diva-71522ISBN: 978-606-23-0874-2 (tryckt)OAI: oai:DiVA.org:oru-71522DiVA, id: diva2:1279601
Konferanse
35th Danubia-Adria Symposium on Advances in Experimental Mechanics, Sinaia, Romania, 25-27 September, 2018
Tilgjengelig fra: 2019-01-17 Laget: 2019-01-17 Sist oppdatert: 2019-01-17bibliografisk kontrollert

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