Parallel Manipulators Towards New Applications Part 18

Tham khảo tài liệu 'parallel manipulators towards new applications part 18', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Feasible Human-Spine Motion Simulators Based on Parallel Manipulators 503 platform to guarantee the parallelism. The axis of R4 is perpendicular to that of R3. Five arc links are manufactured through cutting a cylindrical ring averagely after drilling ten holes with indexing plate. One big and 15 small hole are drilled for lightening the movable platform. To avoid actuator singularity mentioned in section limb are assembled as shown in the Fig. 4 Fig. 6. 3-D model of the prototype Diameters for movable and base platform are 109mm and 200mm. The length of both links connecting joints R1 and R2 R2 and R3 are 44mm. To allow each arc-link rotate around axis of R5 freely the radian of the arc-link is 24 degrees. Five stepper motor controlled by a motion control card actuate five R1 respectively. The minimize step of the stepper motor is degree under the cooperation with motion control card. Reachable workspace Fig. 7. Translation and rotation simulation of the prototype 504 Parallel Manipulators Towards New Applications Fig. 8. Translation of prototype . Rotation of prototype According to the simulation the reachable positions form a circle similar with a pentagon. The max translational distance is 89 mm of the diameter of the base. However the max translation of the prototype is about 75mm because of interference. The rotation angles of the prototype around x-axis y-axis and z-axis are 48 48 and 66 degrees which is similar with the simulation. The motion of a spine is mainly realized by cervical spine thoracic spine and lumbar spine. Considering rotation ability cervical spine is the strongest 123 61 and 77 degrees the lumbar spine is the weakest 74 29 and 9 degrees . Comparing with the three parts of human spine the rotation ability of the prototype is similar to the thoracic spine whose rotation angles are 76 76 and 71 degrees respectively. Feasible Human-Spine Motion Simulators Based on Parallel Manipulators 505 5. Future work Although .

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