On the basis on the end users/applications, this report focuses on the status and outlook for major applications/end users, sales volume, market share and growth rate of Booster
Manipulator for each application, including-
where, [??][member of] [R.sup.n], [??][member of][R.sup.n] and q [member of][R.sup.n] are the angular acceleration, velocity and position of the
manipulator's joints respectively, M (q) [member of] [R.sup.n] is the symmetric positive definite inertia matrix, [tau] [member of] [R.sup.n] is the control input torque of the joints, C (q, [??])[member of][R.sup.n] expresses the Coriolis matrix, G (q) [member of][R.sup.n] symbolizes the gravity force, [F.sub.r] (q, [??])[member of][R.sup.n] stands for the viscous and Coulomb friction force and finally [[tau].sub.d] [member of] [R.sup.n] denotes the lumped disturbance.
where q, [??], [??] are respectively the position, velocity and acceleration of the
manipulator joint angle respectively, D meaning the inertia matrix, B representing the centripetal and coriolis force matrix, N standing for the friction and gravity matrix, [tau] being the control moment.
The kinematic scheme of the parallel
manipulator in consideration is drawn in Fig.
In Section 3, dynamics stability and coupling characteristics of the system due to
manipulator movements are analyzed.
In Section 2, a classification of six-degrees-of-freedom parallel mechanisms based on the number of base and
manipulator platform joints as well as combinatorial classes is introduced.
Robot
manipulator is presented by subsystem uArm on the first level.
Defining x = [([q.sup.T], [[??].sup.T]).sup.T] and considering (7), the uncertain robot
manipulator dynamics (1) can be written as
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