Parallel Manipulators Towards New Applications Part 16

Tham khảo tài liệu 'parallel manipulators towards new applications part 16', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | A Novel 4-DOF Parallel Manipulator H4 443 zero the singularity of Steward platform will take place otherwise the Sterward platform is singularity-free. This method can be used to determine the dimensioning of a H4 so that it is singularity-free at least in a given workspace. Of course the effectiveness and speediness of the GA are the chief problems which should be considered. The study of the novel parallel manipulator H4 and its various reformative structures has become increasingly important during recent years for its excellent performance of velocity and acceleration. But numerous problems still remain open especially the positioning accuracy of the end-effector. From the paper written by Renaud et al. Renaud et al. 2003 the positioning accuracy of a H4 can only reach lower than which cannot meet the requirements generally lower than of the semiconductor end-package equipments. We hope that this chapter will arise some attention to extend this type of parallel manipulators to semiconductor industry. 6. Acknowledgements The work is supported by the Natural Science Fund of China NSFC Project No. 50625516 and the National Fundamental Research Program 973 Project No. 2003CB716207 and 2007CB714000 . 7. References Agrawal . Desmier G. Li S. 1995 . Fabrication and analysis of a novel 3 DOF parallel wrist mechanism. ASME Journal of Mechanical Design Vol. 117 June pp. 343-345 Angeles J. Morozov A. Navarro O. 2000 . A novel manipulator architecture for the production of scara motions Proceedings of IEEE International Conference on Robotics and Automation pp. 2370-2375 San Francisco USA April 2000 Angeles J. 2005 . The degree of freedom of parallel robots a group-theoretic approach Proceedings of IEEE International Conference on Robotics and Automation pp. 10171024 Barcelona Spain April 2005 Basu D. Ghosal A. 1997 . Singularity analysis of platform-type multi-loop spatial mechanisms. Mechanism and Machine Theory Vol. 32 No. 3 pp. 375-389 Benov I. 2001 . .

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