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Romansy 19 – Robot Design, Dynamics and Control: Proceedings by Jean-Pierre Merlet (auth.), Vincent Padois, Philippe Bidaud,

By Jean-Pierre Merlet (auth.), Vincent Padois, Philippe Bidaud, Oussama Khatib (eds.)

Parallel robots modeling and analysis.- Parallel robots layout, calibration and control.- robotic design.- robotic control.- cellular robots layout, modeling and control.- people and humanoids.- Perception.

The papers during this quantity offer a imaginative and prescient of the evolution of the robotics disciplines and point out new instructions within which those disciplines are foreseen to increase. Paper subject matters contain, yet are usually not constrained to, novel robotic layout and robotic modules/components, carrier, rehabilitation, cellular robots, humanoid robots, demanding situations up to speed, modeling, kinematical and dynamical research of robot platforms, suggestions in sensor platforms for robots and conception, and up to date advances in robotics. specifically, many contributions on parallel robotics from major researchers during this area are included.

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Additional resources for Romansy 19 – Robot Design, Dynamics and Control: Proceedings of the 19th CISM-Iftomm Symposium

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If there are no kinematical pairs redundant in the chain, the number of DoF of the end-effector, is the sum of the DoF of the component pairs that compose it. Structural Synthesis of the Families of Parallel Manipulators… 37 4. Geometric aspects and nomenclature. It is necessary to bear in mind the geometry of the previous kinematic chains. For example, if the chain RRR has three parallel axes the generated displacement is 2T1R, if there are only two, the displacement will be 1T2R. A chain RRRRR with all its axes parallel generates in the end-effector only 3DoF with a displacement 2T1R.

We have considered a specific class of WDPR for which all wires are assumed to be attached at the same point on the platform. For non elastic wires the main source of positioning errors (beside control errors in the wire lengths) is that in practice the wires are not connected at the same point. We have shown that finding the pose of the robot when assuming close but distinct attachment points is a difficult task and seems to lead to moderate positioning errors. We have then considered WDPR with elastic wires and have shown that errors on the stiffness of the wires and/or on the wire lengths may also lead to moderate positioning errors but large variations in the wire tensions.

Of Mech. , University of Modena and Reggio Emilia, Italy § ‡ Abstract Massive parallel arrays of discrete actuators are forceregulated robots that undergo continuous motions despite being commanded through a large but finite number of states only. Realtime control of such systems requires fast and efficient methods for solving their inverse static analysis, which is a challenging problem. Artificial intelligence methods are investigated here for the on-line computation of the inverse static analysis of a planar parallel array featuring eight three-state force actuators and possessing one degree of revolute motion.

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