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Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: A serial robot arm based AFP system [34]
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: A 2 RPS– 2 UPS parallel mechanism based AFP system: (a) the proposed AFP system and (b) a 2 RPS– 2 UPS parallel mechanism
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Representative kinematics model of the 2 RPS– 2 UPS parallel mechanism
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Selected points and directions on the platform
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Singularity loci and configurations: (a) example I and (b) example II
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Maximum singularity-free workspace (a) for a given d and (b) a circle in θ = π/2 plane
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Effect of parameters a 1 and b 1: (a) maximum singularity-free workspace and (b) kinematics performance
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Effect of parameters ϕb 1 and ϕa 1: (a) maximum singularity-free workspace and (b) kinematics performance
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Effect of parameters ϕa 1 and ϕa 3: (a) maximum singularity-free workspace and (b) kinematics performance
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Effect of parameter ϕb 1 and ϕb 3: (a) maximum singularity-free workspace and (b) kinematics performance
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: The optimized mechanism configuration
Date of download: 3/13/2018 Copyright © ASME. All rights reserved. From: Singularity-Free Workspace Aimed Optimal Design of a 2 T 2 R Parallel Mechanism for Automated Fiber Placement J. Mechanisms Robotics. 2015; 7(4): 041022 -9. doi: 10. 1115/1. 4029957 Figure Legend: Effect of parameters λl and ψmax: (a) maximum singularity-free workspace and (b) kinematics performance