• Corpus ID: 11780737

Teaching the Design of Parallel Manipulators and Their Controllers Implementing MATLAB, Simulink, SimMechanics and CAD*

  title={Teaching the Design of Parallel Manipulators and Their Controllers Implementing MATLAB, Simulink, SimMechanics and CAD*},
  author={N. S. Tlale and P. Zhang},
The teaching of parallel mechanisms and their controllers is a difficult task because of the complex mathematics that must be solved for the direct and indirect kinematics problems. In order to help students understand the kinematics and the dynamics of parallel manipulators and their controllers, we have designed a final-year robotics course based on MATLAB, Simulink and SimMechanics. Students are given specifications of the parallel manipulator that they must design, such as parameters of the… 
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Parallel Robots
This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
On the optimum design of Stewart platform type parallel manipulators
This paper studies the static rigidity behaviour of a parallel manipulator with legs modelled as elastic members under axial loading and proposes the concept of the flexibility ellipsoid for a parallel system.
Stiffness Modeling of a Stewart Platform Based Milling Machine
This paper presents the development of a mathematical model describing the stiffness of a Stewartplatform-based milling machine. Matrix structural analysis is used to derive the stiffness matrix for
On the Isotropic Design of General Six-Degree-of-Freedom Parallel Manipulators
This paper studies the optimum kinematic design of general six-degree-of-freedom (6-DOF) parallel manipulators, through the minimization of the condition number of their Jacobian matrices.
Optimization of the inertial and acceleration characteristics of manipulators
  • O. Khatib, A. Bowling
  • Engineering
    Proceedings of IEEE International Conference on Robotics and Automation
  • 1996
The study of inertial and acceleration properties have provided separate descriptions of the characteristics associated with linear and angular motions, which allows a more physically meaningful interpretation of these properties and provides simple models for their analysis.
On the infinitesimal motion of a parallel manipulator in singular configurations
  • J. Merlet
  • Mathematics
    Proceedings 1992 IEEE International Conference on Robotics and Automation
  • 1992
The author considers a specific parallel manipulator and determines the features of the infinitesimal motions associated with each of the singular configurations. It is shown that every singular
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An effective algorithm for the identification of the kinematic parameters of a Stewart platform is presented and verified through simulations, which showed that the platform pose error was reduced by at least one order of magnitude.
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The different kinds of singularities encountered in closed-loop kinematics chains are analyzed. A general classification of these singularities in three main groups, which is based on the properties
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