高考问答余鱼萧孟白:帮忙 翻译 谢谢
来源：百度文库 编辑：高考问答 时间：2024/04/28 07:12:26
Electrical actuation for the leg mechanism, two-finger gripper, and articulated finger has been attempted and is under further development.
A new design for a 3-DOF parallel manipulator has been conceived in the form of the architecture of the Cassino Parallel Manipulator (CaPaMan) [3] by using four-bar linkages in the legs and a symmetric design in order to obtain a user-friendly design and easy operation, although parallel manipulators may have complex design and nonintuitive operation. In fact, the CaPaMan proto-type of Figure 6(d) has been machined in a small commer-cial machining store at low cost because of the familiar four-bar mechanisms in the leg architecture. In order to
improve the design approach for a low-cost robot and user-oriented mechanism, the CaPaMan design has been evolved as shown in Figure 7. A prototype of the second version of CaPaMan2 has been built as shown in Figure 7(b) by replacing the sliding pairs with revolute joints in order to give a more compact design and more reliable operation by avoiding the strong influence of the friction in the sliding joints. Recently, a third version of CaPaMan has been conceived as shown in Figure 7(c). By replacing the four-bar linkage with a slider crank mechanism. Its
actuation can be obtained by a linear pneumatic piston in order to simplify the motion programming and control and to attempt pneumatic actuation in a parallel manipu- lator. Indeed, the CaPaMan design can be thought of as a successful application of the low-cost robot concept in all its aspects.
A new design for a 3-DOF parallel manipulator has been conceived in the form of the architecture of the Cassino Parallel Manipulator (CaPaMan) [3] by using four-bar linkages in the legs and a symmetric design in order to obtain a user-friendly design and easy operation, although parallel manipulators may have complex design and nonintuitive operation. In fact, the CaPaMan proto-type of Figure 6(d) has been machined in a small commer-cial machining store at low cost because of the familiar four-bar mechanisms in the leg architecture. In order to
improve the design approach for a low-cost robot and user-oriented mechanism, the CaPaMan design has been evolved as shown in Figure 7. A prototype of the second version of CaPaMan2 has been built as shown in Figure 7(b) by replacing the sliding pairs with revolute joints in order to give a more compact design and more reliable operation by avoiding the strong influence of the friction in the sliding joints. Recently, a third version of CaPaMan has been conceived as shown in Figure 7(c). By replacing the four-bar linkage with a slider crank mechanism. Its
actuation can be obtained by a linear pneumatic piston in order to simplify the motion programming and control and to attempt pneumatic actuation in a parallel manipu- lator. Indeed, the CaPaMan design can be thought of as a successful application of the low-cost robot concept in all its aspects.