7 research outputs found
Disseny, implementaci贸 i control d鈥檜n robot paral路lel de 5 graus de llibertat
En projecte t茅 com a objectiu el disseny, la implementaci贸 i el control d'un robot
paral路lel de 5 graus de llibertat. El resultat de la implementaci贸 es pot observar en la fi gura 44.
El robot en q眉esti贸 guarda semblances amb un pentapode. Un pentapode 茅s un
manipulador paral路lel complet amb un eix axial com a plataforma m貌bil. El robot
implementat es diferencia d'un pentapode en la disposici贸 dels actuadors.
Aquest tipus de manipuladors suposen una interessant alternativa als robots serie
que manipulen eines amb simetria axial. La seva geometria particular permet assolir
angles de gaireb茅 90o d'inclinaci贸 superant aix铆 les limitacions de la plataforma cl脿ssica del tipus Stewart.
El disseny del robot intenta complir els requeriments establerts, tenint en compte les
limitacions mec脿niques que sorgeixen per la complexitat del robot. La implementaci贸
consta de dues etapes, la fabricaci贸 i muntatge del robot i el control d'aquest per tal de generar traject貌ries simples
Disseny, implementaci贸 i control d鈥檜n robot paral路lel de 5 graus de llibertat
En projecte t茅 com a objectiu el disseny, la implementaci贸 i el control d'un robot
paral路lel de 5 graus de llibertat. El resultat de la implementaci贸 es pot observar en la fi gura 44.
El robot en q眉esti贸 guarda semblances amb un pentapode. Un pentapode 茅s un
manipulador paral路lel complet amb un eix axial com a plataforma m貌bil. El robot
implementat es diferencia d'un pentapode en la disposici贸 dels actuadors.
Aquest tipus de manipuladors suposen una interessant alternativa als robots serie
que manipulen eines amb simetria axial. La seva geometria particular permet assolir
angles de gaireb茅 90o d'inclinaci贸 superant aix铆 les limitacions de la plataforma cl脿ssica del tipus Stewart.
El disseny del robot intenta complir els requeriments establerts, tenint en compte les
limitacions mec脿niques que sorgeixen per la complexitat del robot. La implementaci贸
consta de dues etapes, la fabricaci贸 i muntatge del robot i el control d'aquest per tal de generar traject貌ries simples
Disseny, implementaci贸 i control d鈥檜n robot paral路lel de 5 graus de llibertat
En projecte t茅 com a objectiu el disseny, la implementaci贸 i el control d'un robot
paral路lel de 5 graus de llibertat. El resultat de la implementaci贸 es pot observar en la fi gura 44.
El robot en q眉esti贸 guarda semblances amb un pentapode. Un pentapode 茅s un
manipulador paral路lel complet amb un eix axial com a plataforma m貌bil. El robot
implementat es diferencia d'un pentapode en la disposici贸 dels actuadors.
Aquest tipus de manipuladors suposen una interessant alternativa als robots serie
que manipulen eines amb simetria axial. La seva geometria particular permet assolir
angles de gaireb茅 90o d'inclinaci贸 superant aix铆 les limitacions de la plataforma cl脿ssica del tipus Stewart.
El disseny del robot intenta complir els requeriments establerts, tenint en compte les
limitacions mec脿niques que sorgeixen per la complexitat del robot. La implementaci贸
consta de dues etapes, la fabricaci贸 i muntatge del robot i el control d'aquest per tal de generar traject貌ries simples
On generalized dual Euler angles
This paper first explores the generalization of Euler angles to the case in which the rotation axes are not necessarily members of an orthonormal triad, and presents a concise solution to their computation that relies on the calculation of standard Euler angles. Then, this generalization is taken one step further by introducing translations, that is, by defining generalized Euler angles about screw axes using a variation of the principle of transference that avoids the use of dual numbers. As an example, the obtained formulation is applied to solve the inverse kinematics of a 3C manipulator.Peer Reviewe
Distance bound smoothing under orientation constraints
Distance Bound Smoothing (DBS) is a basic operation originally developed in Computational Chemistry to determine point configurations that are within certain pairwise ranges of distances. This operation consist in the iterative application of filtering processes that reduce the given ranges using triangular and tetrangular inequalities. Standard DBS has a limited range of applications because it does not take into account constraints on the orientations of simplices (triangles or tetrahedra, depending on the dimension of the problem). This paper discusses an extension of DBS that permits incorporating these constraints. This paves the way for the application of DBS techniques to a broad range of problems in Robotics.Peer Reviewe
The humanoidLab: involving students in a research centre through an educational initiative
The HumanoidLab is a more than 5 year old activity aimed to use educational robots to approach students to our Research Centre. Different commercial educative humanoid platforms have been used to introduce students to different aspects of robotics using projects and offering guidance and assistance. About 40 students have performed small mechanics, electronics or programming projects that are used to improve the robots by adding features. Robotics competitions are used as a motivation tool. A two weeks course was started that has received 80 undergraduate students, and more than 100 secondary school students in a short version. The experience has been very positive for students and for the institution: some of these students have performed their scholar projects and research in robotics and continue enrolled in the robotics field, and some of them are currently in research groups at IRI.Peer Reviewe
The humanoidLab: involving students in a research centre through an educational initiative
The HumanoidLab is a more than 5 year old activity aimed to use educational robots to approach students to our Research Centre. Different commercial educative humanoid platforms have been used to introduce students to different aspects of robotics using projects and offering guidance and assistance. About 40 students have performed small mechanics, electronics or programming projects that are used to improve the robots by adding features. Robotics competitions are used as a motivation tool. A two weeks course was started that has received 80 undergraduate students, and more than 100 secondary school students in a short version. The experience has been very positive for students and for the institution: some of these students have performed their scholar projects and research in robotics and continue enrolled in the robotics field, and some of them are currently in research groups at IRI.Peer Reviewe