Exploració per autor "Gregorio, Raffaele di"
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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 obertThis 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, ... -
Direct position analysis of a large family of spherical and planar parallel manipulators with four loops
Borràs Sol, Júlia; Gregorio, Raffaele di (LIRMM, 2008)
Text en actes de congrés
Accés obertThe direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ... -
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 obertThis 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 ... -
Generation of under-actuated parallel robots with non-holonomic joints and kinetostatic analysis of a case-study
Grosch Obregon, Patrick John; Gregorio, Raffaele di; Thomas, Federico (2009)
Text en actes de congrés
Accés restringit per política de l'editorialIt will be shown how to generate under-actuated manipulators by substituting non-holonomic spherical pairs (nS pairs) for (holonomic) spherical pairs (S pairs) in fully-parallel manipulators (FPMs). Through this pair ... -
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 obertThis 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 ... -
Polynomial solution to the position analysis of two Assur kinematic chains with four loops and the same topology
Borràs Sol, Júlia; Gregorio, Raffaele di (ASME PRESS, 2009)
Article
Accés restringit per política de l'editorialThe direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint ...