{"id":26409,"date":"2024-02-25T17:57:07","date_gmt":"2024-02-25T18:57:07","guid":{"rendered":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%be%db%8c%da%a9%d8%b1%d8%a8%d9%86%d8%af%db%8c-%d9%85%d8%ac%d8%af%d8%af-%db%8c%da%a9-%d8%af%d8%b3%d8%aa%da%a9%d8%a7%d8%b1%db%8c-%d9%85%d9%88%d8%a7%d8%b2%db%8c-%d8%b3\/"},"modified":"2024-02-25T17:58:34","modified_gmt":"2024-02-25T18:58:34","slug":"%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%be%db%8c%da%a9%d8%b1%d8%a8%d9%86%d8%af%db%8c-%d9%85%d8%ac%d8%af%d8%af-%db%8c%da%a9-%d8%af%d8%b3%d8%aa%da%a9%d8%a7%d8%b1%db%8c-%d9%85%d9%88%d8%a7%d8%b2%db%8c-%d8%b3","status":"publish","type":"product","link":"https:\/\/express24.ir\/d\/product\/%d9%85%d9%82%d8%a7%d9%84%d9%87-%d9%be%db%8c%da%a9%d8%b1%d8%a8%d9%86%d8%af%db%8c-%d9%85%d8%ac%d8%af%d8%af-%db%8c%da%a9-%d8%af%d8%b3%d8%aa%da%a9%d8%a7%d8%b1%db%8c-%d9%85%d9%88%d8%a7%d8%b2%db%8c-%d8%b3\/","title":{"rendered":"\u0645\u0642\u0627\u0644\u0647 \u067e\u06cc\u06a9\u0631\u0628\u0646\u062f\u06cc \u0645\u062c\u062f\u062f \u06cc\u06a9 \u062f\u0633\u062a\u06a9\u0627\u0631\u06cc \u0645\u0648\u0627\u0632\u06cc \u0633\u06cc\u0646\u0645\u0627\u062a\u06cc\u06a9 \u0628\u0627 \u062d\u0631\u06a9\u0627\u062a 2T2R \u0628\u0631\u0627\u06cc \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0627\u0632 \u062a\u06a9\u06cc\u0646\u06af\u06cc \u0647\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0628\u0647 \u062d\u062f\u0627\u0642\u0644 \u0631\u0633\u0627\u0646\u062f\u0646 \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u0645\u062d\u0631\u06a9"},"content":{"rendered":"<table class=\"table table-striped table-hover\">\n<tbody>\n<tr>\n<td>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc <\/td>\n<td>Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces<\/td>\n<\/tr>\n<tr>\n<td>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc <\/td>\n<td>\u0645\u0642\u0627\u0644\u0647 \u067e\u06cc\u06a9\u0631\u0628\u0646\u062f\u06cc \u0645\u062c\u062f\u062f \u0627\u0632 \u06cc\u06a9 \u0645\u0623\u0645\u0648\u0631 \u0633\u06cc\u0646\u0645\u0627\u062a\u06cc\u06a9 \u0645\u0648\u0627\u0632\u06cc \u0628\u0627 \u062d\u0631\u06a9\u0627\u062a 2T2R \u0628\u0631\u0627\u06cc \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0627\u0632 \u062a\u06a9\u0648\u0646 \u0647\u0627 \u0627\u0632 \u0637\u0631\u06cc\u0642 \u0628\u0647 \u062d\u062f\u0627\u0642\u0644 \u0631\u0633\u0627\u0646\u062f\u0646 \u0646\u06cc\u0631\u0648\u0647\u0627\u06cc \u0645\u062d\u0631\u06a9<\/td>\n<\/tr>\n<tr>\n<td>\u0646\u0648\u06cc\u0633\u0646\u062f\u06af\u0627\u0646 <\/td>\n<td>Francisco Valero, Miguel Diaz-Rodriguez, Marina Valles, Antonio Besa, Enrique Bernabeu, Angel Valera<\/td>\n<\/tr>\n<tr>\n<td>\u0632\u0628\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 <\/td>\n<td>\u0627\u0646\u06af\u0644\u06cc\u0633\u06cc<\/td>\n<\/tr>\n<tr>\n<td>\u0641\u0631\u0645\u062a \u0645\u0642\u0627\u0644\u0647: <\/td>\n<td>PDF<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0639\u062f\u0627\u062f \u0635\u0641\u062d\u0627\u062a<\/td>\n<td>34<\/td>\n<\/tr>\n<tr>\n<td>\u062f\u0633\u062a\u0647 \u0628\u0646\u062f\u06cc \u0645\u0648\u0636\u0648\u0639\u0627\u062a  <\/td>\n<td>Robotics,Systems and Control,\u0631\u0648\u0628\u0627\u062a\u06cc\u06a9 , \u0633\u06cc\u0633\u062a\u0645 \u0648 \u06a9\u0646\u062a\u0631\u0644 ,<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a    <\/td>\n<td>Submitted 16 January, 2024; originally announced January 2024.<\/td>\n<\/tr>\n<tr>\n<td>\u062a\u0648\u0636\u06cc\u062d\u0627\u062a \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc    <\/td>\n<td>16 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0631\u0633\u0627\u0644 \u0634\u062f.\u062f\u0631 \u0627\u0628\u062a\u062f\u0627 \u0698\u0627\u0646\u0648\u06cc\u0647 2024 \u0627\u0639\u0644\u0627\u0645 \u0634\u062f.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h2>\u0686\u06a9\u06cc\u062f\u0647<\/h2>\n<p style=\"direction:ltr;\">This paper aims to develop an approach for the reconfiguration of a parallel kinematic manipulator (PKM) with four degrees of freedom (DoF) designed to tackle tasks of diagnosis and rehabilitation in an injured knee. The original layout of the 4-DoF manipulator presents Type-II singular configurations within its workspace. Thus, we proposed to reconfigure the manipulator to avoid such singularities (owing to the Forward Jacobian of the PKM) during typical rehabilitation trajectories. We achieve the reconfiguration of the PKM through a minimization problem where the design variables correspond to the anchoring points of the robot limbs on fixed and mobile platforms. The objective function relies on the minimization of the forces exerted by the actuators for a specific trajectory. The minimization problem considers constraint equations to avoid Type-II singularities, which guarantee the feasibility of the active generalized coordinates for a particular path. To evaluate the proposed conceptual strategy, we build a prototype where reconfiguration occurs by moving the position of the anchoring points to holes bored in the fixed and mobile platforms. Simulations and experiments of several study cases enable testing the strategy performance. The results show that the reconfiguration strategy allows obtaining trajectories having minimum actuation forces without Type-II singularities.<\/p>\n<h2>\u0686\u06a9\u06cc\u062f\u0647 \u0628\u0647 \u0641\u0627\u0631\u0633\u06cc (\u062a\u0631\u062c\u0645\u0647 \u0645\u0627\u0634\u06cc\u0646\u06cc)<\/h2>\n<p>\u0627\u06cc\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0627 \u0647\u062f\u0641 \u0627\u06cc\u062c\u0627\u062f \u0631\u0648\u06cc\u06a9\u0631\u062f\u06cc \u0628\u0631\u0627\u06cc \u067e\u06cc\u06a9\u0631\u0628\u0646\u062f\u06cc \u0645\u062c\u062f\u062f \u06cc\u06a9 \u06a9\u0646\u062a\u0631\u0644 \u06a9\u0646\u0646\u062f\u0647 \u0645\u0648\u0627\u0632\u06cc \u0633\u06cc\u0646\u0645\u0627\u062a\u06cc\u06a9 (PKM) \u0628\u0627 \u0686\u0647\u0627\u0631 \u062f\u0631\u062c\u0647 \u0622\u0632\u0627\u062f\u06cc (DOF) \u0637\u0631\u0627\u062d\u06cc \u0634\u062f\u0647 \u0628\u0631\u0627\u06cc \u0645\u0642\u0627\u0628\u0644\u0647 \u0628\u0627 \u0648\u0638\u0627\u06cc\u0641 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\u062a\u06a9\u06cc\u0646 \u0647\u0627\u06cc\u06cc (\u0628\u0647 \u062f\u0644\u06cc\u0644 \u0698\u0627\u06a9\u0648\u0628\u06cc\u0627\u0646 \u0631\u0648 \u0628\u0647 \u062c\u0644\u0648) \u062c\u0644\u0648\u06af\u06cc\u0631\u06cc \u0634\u0648\u062f.\u0645\u0627 \u0628\u0647 \u067e\u06cc\u06a9\u0631\u0628\u0646\u062f\u06cc PKM \u0627\u0632 \u0637\u0631\u06cc\u0642 \u06cc\u06a9 \u0645\u0634\u06a9\u0644 \u0628\u0647 \u062d\u062f\u0627\u0642\u0644 \u0631\u0633\u0627\u0646\u062f\u0646 \u06a9\u0647 \u062f\u0631 \u0622\u0646 \u0645\u062a\u063a\u06cc\u0631\u0647\u0627\u06cc \u0637\u0631\u0627\u062d\u06cc \u0628\u0627 \u0646\u0642\u0627\u0637 \u0644\u0646\u06af\u0631 \u0627\u0646\u062f\u0627\u0645 \u0627\u0646\u062f\u0627\u0645\u0647\u0627\u06cc \u0631\u0628\u0627\u062a \u062f\u0631 \u0633\u06cc\u0633\u062a\u0645 \u0639\u0627\u0645\u0644 \u0647\u0627\u06cc \u062b\u0627\u0628\u062a \u0648 \u0645\u0648\u0628\u0627\u06cc\u0644 \u0645\u0637\u0627\u0628\u0642\u062a \u062f\u0627\u0631\u0646\u062f \u060c 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\u0645\u0642\u0627\u0644\u0647 \u0627\u0635\u0644\u06cc \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc \u06a9\u0647 \u062f\u0631\u06cc\u0627\u0641\u062a \u0645\u06cc \u06a9\u0646\u06cc\u062f\u060c \u0628\u0631\u0627\u06cc <strong>\u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0639\u0645\u06cc\u0642\u200c\u062a\u0631 \u0648 \u062a\u0633\u0644\u0637 \u06a9\u0627\u0645\u0644 \u0628\u0631 \u0645\u0628\u0627\u062d\u062b<\/strong> \u0645\u062c\u0645\u0648\u0639\u0647\u200c\u0627\u06cc \u0627\u0632 \u06a9\u062a\u0627\u0628\u200c\u0647\u0627\u06cc \u0622\u0645\u0648\u0632\u0634\u06cc \u0646\u06cc\u0632 \u0627\u0631\u0627\u0626\u0647 \u0645\u06cc\u200c\u0634\u0648\u062f.\r\n<\/p>\r\n\r\n<ul style=\"list-style-type:'\u2705 '; padding-left:20px; font-size:16px; line-height:1.9;\">\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u0635\u062f\u0647\u0627 \u0646\u06a9\u062a\u0647 \u0641\u0627\u0631\u0633\u06cc (\u062e\u0648\u062f\u0645\u0648\u0646\u06cc) \u2013 \u0646\u0633\u062e\u0647 PDF<\/strong> \u2014 \u0632\u0628\u0627\u0646 \u0633\u0627\u062f\u0647 \u0648 \u06a9\u0627\u0631\u0628\u0631\u062f\u06cc\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/nokte_7046_Docker%20%D9%85%D9%81%D8%A7%D9%87%DB%8C%D9%85%20%D9%88%20%D8%AA%DA%A9%D9%86%DB%8C%DA%A9%E2%80%8C%D9%87%D8%A7%DB%8C%20%D9%BE%DB%8C%D8%B4%D8%B1%D9%81%D8%AA%D9%87%20%D8%AF%D8%B1%20Docker%20Compose.pdf_extract.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u0646\u06a9\u0627\u062a \u0633\u0627\u062f\u0647\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u0635\u062f\u0647\u0627 \u0646\u06a9\u062a\u0647 \u0631\u0633\u0645\u06cc \u0641\u0627\u0631\u0633\u06cc \u2013 \u0646\u0633\u062e\u0647 PDF<\/strong> \u2014 \u0646\u06af\u0627\u0631\u0634 \u0627\u0633\u062a\u0627\u0646\u062f\u0627\u0631\u062f \u0648 \u0639\u0644\u0645\u06cc\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/nokte_formal_7046_Docker%20%D9%85%D9%81%D8%A7%D9%87%DB%8C%D9%85%20%D9%88%20%D8%AA%DA%A9%D9%86%DB%8C%DA%A9%E2%80%8C%D9%87%D8%A7%DB%8C%20%D9%BE%DB%8C%D8%B4%D8%B1%D9%81%D8%AA%D9%87%20%D8%AF%D8%B1%20Docker%20Compose.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u0646\u06a9\u0627\u062a \u0631\u0633\u0645\u06cc\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u0635\u062f\u0647\u0627 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e \u062a\u0634\u0631\u06cc\u062d\u06cc \u2013 \u0646\u0633\u062e\u0647 PDF<\/strong><br>\r\n\u2014 \u0647\u0631 \u0633\u0624\u0627\u0644 \u0647\u0645\u0631\u0627\u0647 \u0628\u0627 \u067e\u0627\u0633\u062e \u06a9\u0627\u0645\u0644 \u0628\u0631\u0627\u06cc \u062f\u0631\u06a9 \u0639\u0645\u06cc\u0642 \u0645\u0641\u0627\u0647\u06cc\u0645\r\n<br>\r\n<a href=\"https:\/\/dl2.express24.ir\/nemoneh\/spKsaFdmG7D5X\/qa_26193_%D8%AF%D9%88%D8%B1%D9%87%20%D8%AC%D8%A7%D9%85%D8%B9%20%D8%A7%D8%B5%D9%88%D9%84%20%D8%A8%DB%8C%D9%85%D9%87%20%D8%A7%D8%B2%20%D9%85%D8%A8%D8%A7%D9%86%DB%8C%20%D8%AA%D8%A7%20%D8%A7%D8%B3%D8%AA%D8%B1%D8%A7%D8%AA%DA%98%DB%8C%E2%80%8C%D9%87%D8%A7%DB%8C%20%DA%A9%D8%A7%D8%B1%D8%A8%D8%B1%D8%AF%DB%8C.pdf\">\r\n\u0645\u0634\u0627\u0647\u062f\u0647 \u0646\u0645\u0648\u0646\u0647 \u0646\u0633\u062e\u0647 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e\r\n<\/a>\r\n<\/li>\r\n\r\n<li>\r\n<strong>\u06a9\u062a\u0627\u0628 \u067e\u0631\u0633\u0634 \u0648 \u067e\u0627\u0633\u062e \u0686\u0647\u0627\u0631\u06af\u0632\u06cc\u0646\u0647\u200c\u0627\u06cc \u2013 \u0646\u0633\u062e\u0647 \u06cc\u0627\u062f\u06af\u06cc\u0631\u06cc \u0633\u0631\u06cc\u0639<\/strong><br>\r\n\u2014 \u067e\u0627\u0633\u062e\u200c\u0647\u0627 \u0628\u0644\u0627\u0641\u0627\u0635\u0644\u0647 \u0628\u0639\u062f \u0627\u0632 \u0633\u0624\u0627\u0644 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\u062f\u0627\u0646\u0644\u0648\u062f \u0628\u0647 \u0634\u0645\u0627\u0631\u0647 <strong>09395106248<\/strong> \u067e\u06cc\u0627\u0645\u06a9 \u062f\u0647\u06cc\u062f \u06cc\u0627 \u062a\u0645\u0627\u0633 \u0628\u06af\u06cc\u0631\u06cc\u062f. (\u0627\u06cc\u062f\u0647 \u0622\u0644 \u062a\u0631\u06cc\u0646 \u06af\u0632\u06cc\u0646\u0647 \u0627\u0631\u0633\u0627\u0644 \u067e\u06cc\u0627\u0645 \u062f\u0631 \u06cc\u06a9\u06cc \u0627\u0632 \u067e\u06cc\u0627\u0645 \u0631\u0633\u0627\u0646 \u0647\u0627 \u0628\u0647 \u0647\u0645\u06cc\u0646 \u0634\u0645\u0627\u0631\u0647 \u0627\u0633\u062a \u062a\u0627 \u0633\u0631\u06cc\u0639\u0627 \u0644\u06cc\u0646\u06a9 \u0647\u0627\u06cc \u0645\u062d\u0635\u0648\u0644 \u0647\u0645\u0627\u0646 \u062c\u0627 \u0628\u0631\u0627\u06cc \u0634\u0645\u0627 \u0627\u0631\u0633\u0627\u0644 \u06af\u0631\u062f\u062f.)<\/li>\r\n        <li>\u0627\u06af\u0631 \u067e\u0631\u062f\u0627\u062e\u062a \u0627\u0646\u062c\u0627\u0645 \u0634\u062f\u0647 \u0648\u0644\u06cc \u0628\u0639\u062f \u0627\u0632 24 \u0633\u0627\u0639\u062a \u0647\u0646\u0648\u0632 \u0644\u06cc\u0646\u06a9\u200c\u0647\u0627 \u0631\u0627 \u062f\u0631\u06cc\u0627\u0641\u062a \u0646\u06a9\u0631\u062f\u0647\u200c\u0627\u06cc\u062f\u060c \u0646\u0627\u0645 \u0648 \u0646\u0627\u0645 \u062e\u0627\u0646\u0648\u0627\u062f\u06af\u06cc \u0648 \u0646\u0627\u0645 \u0645\u062d\u0635\u0648\u0644 \u0631\u0627 \u067e\u06cc\u0627\u0645\u06a9 \u06a9\u0646\u06cc\u062f \u062a\u0627\r\n            \u0644\u06cc\u0646\u06a9\u200c\u0647\u0627 \u062f\u0648\u0628\u0627\u0631\u0647 \u0627\u0631\u0633\u0627\u0644 \u0634\u0648\u0646\u062f.<\/li>\r\n    <\/ul>\r\n    <p style=\"font-size: 16px; line-height: 1.8; margin-top: 15px;\"> \ud83d\udcac \u0631\u0627\u0647\u200c\u0647\u0627\u06cc \u0627\u0631\u062a\u0628\u0627\u0637\u06cc \u067e\u0634\u062a\u06cc\u0628\u0627\u0646\u06cc:<br> \u0648\u0627\u062a\u0633\u200c\u0627\u067e \u06cc\u0627 \u0647\u0631 \u067e\u06cc\u0627\u0645 \u0631\u0633\u0627\u0646 \u062f\u0627\u062e\u0644\u06cc \u06cc\u0627 \u067e\u06cc\u0627\u0645\u06a9:\r\n        <strong>09395106248<\/strong><br> \u062a\u0644\u06af\u0631\u0627\u0645: <strong>@ma_limbs<\/strong> <\/p>\r\n\t\r\n\t\r\n<\/div>\r\n\r\n\r\n\n","protected":false},"excerpt":{"rendered":"<p>\u0639\u0646\u0648\u0627\u0646 \u0645\u0642\u0627\u0644\u0647 \u0628\u0647 \u0627\u0646\u06af\u0644\u06cc\u0633\u06cc Reconfiguration of a parallel kinematic manipulator with 2T2R motions for avoiding singularities through minimizing actuator forces [&hellip;]<\/p>\n","protected":false},"featured_media":27,"comment_status":"open","ping_status":"closed","template":"","meta":{"pmpro_default_level":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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