G O - Academia.edu (original) (raw)

Papers by G O

Springer eBooks, 2000

In this paper, the features from the kinematical point of view for a new 6 DOF parallel mechanism... more In this paper, the features from the kinematical point of view for a new 6 DOF parallel mechanism (6–3 PRRS) are investigated and analysed, using the AutoCAD software package for simulation. After a briefly introduction to the present robot mechanisms structure, the proposed architecture of the mechanism, is presented. Then, a structural analysis of its class spotlights the specific features of this mechanism, which can be favourably used in some work conditions. The manner of how were both the direct and inverse problems for positions solved (analytical and numerical), is presented. Their solutions are discussed and by giving examples, graphically simulated.

Coming from the actual and future measurement needs in the product and technological developments... more Coming from the actual and future measurement needs in the product and technological developments, a new experimental device for Parallel CMM (Coordinates Measuring Machine with Parallel Mechanism structure) was redesigned from mechanical point of view, and the results of its calibration process are presented in this paper. First of all, to justify our research topic, a short analysis is included, taking into account the actual/further CMM’s market trends, from both– customers’ requirements and builders’ possibilities. Next, as a possible solution to encompass and pass the actual CMM (serial) structure’s limitations (speed, accuracy, weight, etc), a linear actuated 3-3P(SS/SS) parallel mechanism structure is developed, by analysing and proving its suitable structure. Adding new improvements in the general mechanical design conception at previous experimental models (especially, for magnetically spherical joints) the number and level of the geometric errors became smaller without hig...

精密工学会大会学術講演会講演論文集, Oct 1, 2002

設計工学 Journal of Japan Society For Design Engineering, Apr 5, 2004

Journal of the Japan Society for Precision Engineering, Contributed Papers, 2004

IFIP International Federation for Information Processing

The paper is dealing with the development of a new class of multipurpose multi-degrees-o-freedom ... more The paper is dealing with the development of a new class of multipurpose multi-degrees-o-freedom (MDOF) Positioning Systems (PS) to be used as precision devices in a cell manufacturing desktop environment. Based on a structural investigation and systematization with imposed criteria, parallel mechanisms (PM) with 2dof actuators on the base was proposed. In its first modular design concept, each of the members-Positioning units(Pu), having at least 2DOF motion capabilities over a large workspaces, are symmetric PM architectures, fully actuated, by in-parallel linear-linear (L-L) actuation modules(aM). The kinematics and design aspects for the representative cases-2, 4 and 6 DOF Pu, by using planar motors and scissors (and/or, parallelograms) as transfer of motion modules(TofM) are presented, as they exhibit, both, an increased stiffness and speed features, respectively.

Calibration of a parallel mechanism using a specified artifact, artifact calibration, is an effec... more Calibration of a parallel mechanism using a specified artifact, artifact calibration, is an effective method. However, there are strong correlations between each parameter in an artifact calibration of a parallel mechanism. Therefore, it is difficult to identify all kinematic parameters included in a kinematic model of the parallel mechanism from measuring data. In this research, we propose two improved methods for the calibration of parallel mechanisms. One is using adjustable links for calibration. The adjustable links enlarge the workspace of parallel mechanisms and enables one to make a choice of more advantageous measuring arrangements for parameter identification. The other is using a priori knowledge to constrain the identified values of kinematic parameters. This method is available for any mechanisms when approximate values and tolerances of its kinematic parameters are known from their design specification or some other measurements. Both methods enable the full parameter identification of parallel mechanisms without divergence in the least squares method and improve the positioning accuracy after calibration.

2002 IEEE International Conference on Industrial Technology, 2002. IEEE ICIT '02.

Many types of three dimensional mechanisms (3Dmechanism) are used in modern industry. Specially, ... more Many types of three dimensional mechanisms (3Dmechanism) are used in modern industry. Specially, in automation technology, product engineering and robotics, 3D-mechanisms play the key roles of complicated manipulation, 3D positioning and 3D measurement. Usually, the repeatability of 3D-mechanism is tested and evaluated. However, when we use 3D-mechanism in wide purposes and in wide conditions, the absolute calibration is the key technique to control the mechanism precisely. In this article, we analyze theoretically the method of the absolute calibration for 3D-mechanisms, such as a Cartesian mechanism, an articulated mechanism and a parallel mechanism. After theoretical analysis, we introduce a novel 3DOF parallel mechanism for a coordinate measuring machine (CMM) and a micro milling machine and a novel calibration method for these parallel mechanisms.

nanolab.tu-tokyo.ac.jp

Abstract: In this paper, the basic kinematic features of a set of modular multipurpose manipulati... more Abstract: In this paper, the basic kinematic features of a set of modular multipurpose manipulation units conceived to work as an individual or integrated system inside of a desktop assembly cell environment are analyzed and some of the specific parameters are evaluated. The basic ...

Proceedings of the 33rd ISR ( …, 2002

精密工学会大会学術講演会講演論文集, Mar 1, 2000