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Since a parallel robot is always out of control at a singularity and its neighborhood, it should work far away from singular configurations. However, how to measure the closeness between a pose and a singular configuration is still a challenging problem. This paper presents a new measure for closeness to singularities of parallel robots. Several performance indices are introduced by taking into account...
This paper is inclined to introduce the authors' study on a new method for evaluating the production safety in a workshop based on the multi-dimensional and multi-level factors including a lot of uncertainties. Since the safety management of the workshop production involve so many factors and uncertainties, it is necessary to use the interval number fuzzy integrated evaluation, which is based on the...
To management the risk of International Project Contracting where the chance and risk are accreted and the risk is bigger than the domestic engineering, the paper sets up the comprehensive evaluation system and a model of risk assessment by using the unascertained set for evaluating the risk of the international project contracting. Finally, the practicality and feasibility of the model are illustrated...
Being as the counterparts of serial robots, parallel manipulators are good at force transmission but not only dexterous manipulation. In this study, a generalized frame-free transmission index is first proposed. Based on the frame-free index, the force transmission performance analysis of spherical 5R parallel manipulators is presented. By giving a specified and significative value, the index can...
This paper addresses the issue of performance evaluation of parallel manipulators. In the analysis and design process of parallel manipulators, the performance evaluation is the most important problem. The developed index will be fundamentally involved in the process, especially in that of optimum design. Although parallel manipulators have been extensively studied for more than twenty years, unfortunately,...
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