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Micro linear actuators are applied to many precision fields such as ultra-precise positioning, precision manufacturing, optics, etc. The design of a micro-linear actuator is presented in this paper. The micro linear actuator includes a stacked piezo and a novel flexure-based differential amplifier mechanism. Stiffness, one of the most important factor to the resolution, is considered in the design...
Cable-driven spherical joint is a 3-DOF closed-loop mechanism which transmits motion and force of the driver on the base to the moving platform via cables. It combines the merits of cable-driven and parallel mechanism. This paper introduces a 4-cable-driven parallel structure with 3-DOF and uses a specific methodology to optimize structural parameters of the spherical joint. Based on the analysis...
The optimization algorithm for redundant 7R serial robot is studied. Use Devavit-Hartenberg matrix to set up a 4 times 4 matrix form closed-form equation of the 7R robot and regard the minimum condition number of the 5 times 5 Jacobian matrix as the control indices for the given 5 constrains of the end-effector in the industry requirement. Change the two joint angles thetas0 and thetas3 and use Newton...
Algorithms solving inverse problems for simple (open) kinematic chains are presented in this paper. Due to very high kinematics chains construction complexity, those algorithms should be as universal as possible. That is why optimization methods are used. They allow fast and accurate calculations for arbitrary kinematics chains constructions, permitting them to be used with success in robotics and...
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