A Dexterity Comparison for 6 DOF Hybrid Robots

Abstract

In this paper, new hybrid robots are suggested which divided the task into a position and orientation tasks. The position mechanism controls the position whereas the orientation one manipulates the orientation of the end effector. These robots consist of a translational parallel manipulator and a rotational serial or parallel mechanism. The 3UPU or Tricept parallel manipulator and a three-axis gimbaled system or parallel shoulder manipulator are chosen for translational and rotational movements, respectively. The main goal of this paper is analyzing the development and combination of serial and parallel manipulators in order to increase their features. According to this purpose, serial and parallel mechanisms with three DOF are combined in a way to encompass six DOF space. It is shown hybrid mechanisms with less coupling between their subsystems are capable of increasing robot characteristics.

Therapeutic potential of cristobalite in the treatment of calf diarrhea

“…The silicon dioxide (SiO 2 ) modifications are named as quartz in reference books. Zeolites (also called as Crystelline silicon dioxide, quartz) are chemical compounds of phosphorus, aluminum, oxygen, and silicon, intrinsically embedded in a stable structure with repeated topology (Mohammadkhani et al 2016). Zeolites could be defined as porous aluminum silicates and classified into synthetic and natural types (Carr et al 2009, Rhodes 2010.…”