Exploració per tema "Materials -- Manipulació--Automatització"

Ara es mostren els items 1-6 de 6

    • A one-motor full-mobility 6-PUS manipulator 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (Springer, 2010)
      Text en actes de congrés
      Accés obert
      This paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, ...

    • A unified method for computing position and orientation workspaces of general Stewart platforms 

      Bohigas Nadal, Oriol; Ros, LLuís; Manubens Ferriol, Montserrat (2011)
      Text en actes de congrés
      Accés obert
      The workspace of a Stewart platform is a complex six- dimensional volume embedded in the Cartesian space defined b y six pose parameters. Because of its large dimension and com- plex shape, such workspace is difficult ...

    • Active perception of deformable objects using 3D cameras 

      Alenyà Ribas, Guillem; Moreno-Noguer, Francesc; Ramisa Ayats, Arnau; Torras, Carme (Escuela Superior de Ingenieros de la Universidad de Sevilla, 2011)
      Text en actes de congrés
      Accés obert
      Perception and manipulation of rigid objects has received a lot of attention, and several solutions have been proposed. In contrast, dealing with deformable objects is a relatively new and challenging task because they ...

    • Generation of under-actuated manipulators with non-holonomic joints from ordinary manipulators 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (ASME PRESS, 2010)
      Article
      Accés obert
      This paper shows how to generate under-actuated manipulators by substituting nonholonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in ordinary (i.e. not under-actuated) manipulators. As a case ...

    • Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints 

      Grosch Obregon, Patrick John; Gregorio, Raffaele di; López, Javier; Thomas, Federico (2010)
      Text en actes de congrés
      Accés obert
      This paper introduces a class of reconfigurable parallel robots consisting of a fixed base and a moving platform connected by serial chains having RRPS (Revolute-Revolute-Prismatic-Spherical) topology. Only the prismatic ...

    • Redundant inverse kinematics: experimental comparative review and two enhancements 

      Colomé Figueras, Adrià; Torras, Carme (2012)
      Text en actes de congrés
      Accés obert
      Motivated by the need of a robust and practical Inverse Kinematics (IK) algorithm for the WAM robot arm, we reviewed the most used closed-loop methods for redundant robots, analysing their main points of concern: convergence, ...