By C. Huang, R. Tseng, X. Kong (auth.), Doina Pisla, Marco Ceccarelli, Manfred Husty, Burkhard Corves (eds.)

EUCOMES (European convention on Mechanism technological know-how) has been verified as a global discussion board in the eu group to supply a casual, pleasant and stimulating setting for discussions and exchanges on achievements in all features of Mechanism technology to be able to facilitate overseas collaboration ordinarily inside of a eu framework. After profitable meetings held in Innsbruck in 2006 and Cassino in 2008 with the participation of the real and recognized scientists from the ecu Mechanism technology neighborhood, an additional convention used to be held in Cluj Napoca, Romania, in 2010 to debate new advancements within the box. This booklet provides the latest examine advances in Mechanism technology with diversified functions. among the themes handled are papers on Computational Kinematics, Micro-mechanisms, Mechanism layout, Mechanical Transmissions, Linkages and Manipulators, Mechanisms for Biomechanics, Experimental Mechanics, Mechanics of Robots, Dynamics, keep watch over problems with Mechanical structures, Novel Designs, purposes and educating Methods.

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3 The reduced workspace of the mechanism: (a) due to the minimum transmission angle; (b) due to the singularities. (a) (b) Fig. 4 Workspace of the mechanism: (a) reduced workspace due to the strokes; (b) reachable workspace. 1. the singularity curves must be as far as possible from the center of the ideal surface; 2. the telescopic leg must fulfill the condition (16) in order to withdraw to the bottom. No restrictions are imposed regarding: the maximum allowed stroke of actuated joints and the maximum and minimum values of the leg.

This is a well-known criterion for the existence of a hyperboloid of revolution through u0 , u1 , u2 , and u3 . 4 Homologous Planes Tangent to a Cone of Revolution In this section we study the locus of planes ε in the moving space such that its homologous images ε0 , ε1 , ε2 , ε3 are tangent to a cone of revolution (Figure 1, center). Actually, we will not discuss this in full generality but restrict ourselves to the case of oriented planes in oriented contact with a cone of revolution. This means the cone axis is the intersection line of the unique bisector planes of εi and εi+1 .

Based on the kinematic scheme of the mechanism, the algorithms for the kinematic models are solved, the workspace and singularities are described and analyzed. An optimal design of the mechanism is performed. Finally, the design of the mechanism is also described. Key words: parallel mechanism, kinematics, workspace, optimization, design 1 Introduction A generalized parallel manipulator is a closed-loop kinematic chain mechanism whose end-effector is linked to the base by several independent kinematic chains [6].

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