FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W1564056591> ?p ?o ?g. }

• W1564056591 abstract "Parallel manipulators have separate serial kinematic chains that are linked to the ground and the moving platform at the same time. They have some potential advantages over serial robot manipulators such as high accuracy, greater load capacity, high mechanical rigidity, high velocity and acceleration (Kang et al., 2001; Kang & Mills, 2001). Planar Parallel Manipulators (PPMs), performing two translations along the x and y axes, and rotation through an angle of  around the z axis are a special group among the parallel robot manipulators. They have potential advantages for microminiaturization (Hubbard et al., 2001) and pick-and-place operations (Heerah et al., 2003). However, due to the complexity of the closed-loop chain mechanism, the kinematics analysis of parallel manipulators is more difficult than their serial counterparts. Therefore selection of an efficient mathematical model is very important for simplifying the complexity of the kinematics problems in parallel robots. In this book chapter, the forward and inverse kinematics problems of PPMs are solved based on D-H method (Denavit & Hartenberg, 1955) which is a common kinematic modelling convention using 4x4 homogenous transformation matrices. The easy physical interpretation of the robot mechanisms is the main advantage of this method. The Forward kinematics problem calculates the position and orientation of the end-effector if the set of joint angles are known. The inverse kinematics problem solves for the joint angles when the position and orientation of the end effector is given. In contrast to serial manipulators, the forward kinematics problem is much more difficult than the inverse kinematic problem for parallel manipulators. Afterwards very practical definitions are provided for Jacobian matrix and workspace determination of PPMs which are required for singularity and dexterity analyses. Rest of this book chapter is composed of the following sections. Some fundamental definitions about D-H method as a kinematics modelling convention, Jacobian matrix, condition number, global dexterity index, singularity and workspace determination are presented in Section 2. A two-degree-of-freedom (2-dof) PPM and a 3-dof Fully Planar Parallel Manipulator (FPPM) are given as examples to illustrate the methodology in the following Section. FPPMs are composed of a moving platform linked to 21" @default.
• W1564056591 created "2016-06-24" @default.
• W1564056591 creator A5010781223 @default.
• W1564056591 date "2010-04-01" @default.
• W1564056591 modified "2023-09-24" @default.
• W1564056591 title "Kinematics, Singularity and Dexterity Analysis of Planar Parallel Manipulators Based on DH Method" @default.
• W1564056591 cites W1256870269 @default.
• W1564056591 cites W1573957500 @default.
• W1564056591 cites W1972880440 @default.
• W1564056591 cites W2006227982 @default.
• W1564056591 cites W2043154226 @default.
• W1564056591 cites W2054472106 @default.
• W1564056591 cites W2064071544 @default.
• W1564056591 cites W2070917084 @default.
• W1564056591 cites W2105797869 @default.
• W1564056591 cites W2109948066 @default.
• W1564056591 cites W2123218127 @default.
• W1564056591 cites W2133368888 @default.
• W1564056591 cites W2152060442 @default.
• W1564056591 cites W2246023205 @default.
• W1564056591 cites W2341668857 @default.
• W1564056591 doi "https://doi.org/10.5772/9320" @default.
• W1564056591 hasPublicationYear "2010" @default.
• W1564056591 type Work @default.
• W1564056591 sameAs 1564056591 @default.
• W1564056591 citedByCount "2" @default.
• W1564056591 countsByYear W15640565912014 @default.
• W1564056591 countsByYear W15640565912016 @default.
• W1564056591 crossrefType "book-chapter" @default.
• W1564056591 hasAuthorship W1564056591A5010781223 @default.
• W1564056591 hasBestOaLocation W15640565911 @default.
• W1564056591 hasConcept C121332964 @default.
• W1564056591 hasConcept C121684516 @default.
• W1564056591 hasConcept C134786449 @default.
• W1564056591 hasConcept C138094506 @default.
• W1564056591 hasConcept C154945302 @default.
• W1564056591 hasConcept C16171025 @default.
• W1564056591 hasConcept C2524010 @default.
• W1564056591 hasConcept C2775924081 @default.
• W1564056591 hasConcept C33923547 @default.
• W1564056591 hasConcept C39920418 @default.
• W1564056591 hasConcept C41008148 @default.
• W1564056591 hasConcept C47446073 @default.
• W1564056591 hasConcept C74650414 @default.
• W1564056591 hasConceptScore W1564056591C121332964 @default.
• W1564056591 hasConceptScore W1564056591C121684516 @default.
• W1564056591 hasConceptScore W1564056591C134786449 @default.
• W1564056591 hasConceptScore W1564056591C138094506 @default.
• W1564056591 hasConceptScore W1564056591C154945302 @default.
• W1564056591 hasConceptScore W1564056591C16171025 @default.
• W1564056591 hasConceptScore W1564056591C2524010 @default.
• W1564056591 hasConceptScore W1564056591C2775924081 @default.
• W1564056591 hasConceptScore W1564056591C33923547 @default.
• W1564056591 hasConceptScore W1564056591C39920418 @default.
• W1564056591 hasConceptScore W1564056591C41008148 @default.
• W1564056591 hasConceptScore W1564056591C47446073 @default.
• W1564056591 hasConceptScore W1564056591C74650414 @default.
• W1564056591 hasLocation W15640565911 @default.
• W1564056591 hasLocation W15640565912 @default.
• W1564056591 hasOpenAccess W1564056591 @default.
• W1564056591 hasPrimaryLocation W15640565911 @default.
• W1564056591 hasRelatedWork W1503216497 @default.
• W1564056591 hasRelatedWork W2051802930 @default.
• W1564056591 hasRelatedWork W2081123602 @default.
• W1564056591 hasRelatedWork W2116052507 @default.
• W1564056591 hasRelatedWork W2166263619 @default.
• W1564056591 hasRelatedWork W2254500970 @default.
• W1564056591 hasRelatedWork W2352679030 @default.
• W1564056591 hasRelatedWork W2380269689 @default.
• W1564056591 hasRelatedWork W2887070346 @default.
• W1564056591 hasRelatedWork W3115561832 @default.
• W1564056591 isParatext "false" @default.
• W1564056591 isRetracted "false" @default.
• W1564056591 magId "1564056591" @default.
• W1564056591 workType "book-chapter" @default.