... driven parallel manipulator of FAST. Sensitivity design method is adopted for the six-cable driven parallel manipulator of FAST. Cable has the capability to bear tension but not compression, so that cable driven parallel manipulator may not be controlled as expected if tension of one cable is small...

... 10 2011 control engineering computing manipulators software architecture system architecture design representation design process contact and channel Approach (C&C-A) Cambridge Advanced Modeller (CAM) Design can be viewed as a problem-solving process guided...

... mechanism and a cam gripper together, this paper develops a docking manipulator, which endows each robot with a simple but forceful grasping capability. Furthermore, the docking manipulator can overcome the possible aligning errors between two robots and interconnect them. A motorized spherical joint...

... and the results are true for all continuous values within the certified range of the workspace. This paper takes a pedagogical approach in presenting the interval-based methodologies and the implementation on a planar 3revolute-revolute-revolute (RRR) parallel flexure-based manipulator. Interval extension...

... objects, as well as for stabilization and power efficiency when bending is not necessary. The split locking mechanism represents a biologically inspired structure with added strength and stability for use in robotics. 04 01 2008 27 05 2008 16 12 2008 joining processes manipulator...

... of parameters of the initial geometry, it is necessary to provide a solution to the inverse kinematic problem (IKP). These equations are needed in order to resolve the detection of the interferences. Figure 3 illustrates the kinematic modeling of the cable-driven parallel manipulator. The variables...

...C. Baradat; V. Arakelian; S. Briot; S. Guegan This paper proposes a new solution to the problem of torque minimization of spatial parallel manipulators. The suggested approach involves connecting a secondary mechanical system to the initial structure, which generates a vertical force applied...

...Yu-Xin Wang; Yu-Tong Li; Shuang-Xia Pan Due to the motion uncertainty at the singular point, while the manipulator traverses the singularity hypersurface and moves from one singularity-free region to another, its motion is uncertain. To obtain a desired motion after it traverses the singularity...

... are potentially intersecting. Methods have been presented in the paper for the determination of the workspace boundary from the envelope curves. Strategies to deal with the manipulators with joint limits and various degenerate situations have also been discussed. The computational steps being completely geometric...

...Alp Zibil; Flavio Firmani; Scott B. Nokleby; Ron P. Podhorodeski A new explicit methodology for the determination of the force-moment capabilities of nonredundantly and redundantly actuated planar parallel manipulators (PPMs) is presented. This methodology is based on properly adjusting...

...Abhishek Agrawal; Sunil K. Agrawal The importance of energy efficiency of a robotic manipulator is clearly evident when the manipulator has to use on-board power. With miniature machines, this issue is even more important since the size and the weight guides the performance of a design...

...Davide Paganelli Singularities form surfaces in the jointspace of a serial manipulator. Paï and Leu ( Paï and Leu, 1992, IEEE Trans. Rob. Autom., 8, pp. 545–559 ) introduced the important notion of generic manipulator, the singularity surfaces of which are smooth and do not intersect with each...

... outperforms the PB method on solving several systems of equations in 30 variables which are derived from the five precision-position motion generation problem of spatial RRR manipulators. In the paper, tunneling functions are also introduced to exclude degenerated solution sets in several synthesis problems...

...Sangamesh Deepak R; Ashitava Ghosal The 4 × 4 homogeneous transformation matrix is extensively used for representing rigid body displacement in 3D space and has been extensively used in the analysis of mechanisms, serial and parallel manipulators, and in the field of geometric modeling and computed...

...Nalluri Mohan Rao; K. Mallikarjuna Rao This paper presents dimensional synthesis of a 3 degrees of freedom (DOF) spatial 3-revolute-prismatic-spherical (RPS) parallel manipulator. Tsai and Kim ((2003) ASME J. Mech. Des., 125, pp. 92–97) have shown that the dimensional synthesis can be carried out...

...Xin-Jun Liu; Jinsong Wang; Jongwon Kim This paper addresses the issue of determining the optimal geometric parameters of a 3-DOF parallel manipulator. One of the advantages of the manipulator is that the moving platform exhibits high tilting capabilities, e.g., as much as ± 50 deg . The first step...

...Saeed Behzadipour; Amir Khajepour The stiffness of cable-based robots is studied in this paper. Since antagonistic forces are essential for the operation of cable-based manipulators, their effects on the stiffness should be considered in the design, control, and trajectory planning...

... . Sefrioui , J. , and Gosselin , C. , 1993 , “ Singularity Analysis and Representation of Planar Parallel Manipulators ,” J. Rob. Syst. 0741-2223 , 10 , pp. 209 – 224 . Sefrioui , J. , and Gosselin , C. , 1995 , “ On the Quadratic Nature of the Singularity Curves of Planar Three...

...Wen-Yeuan Chung An RSSR mechanism is analyzed by treating the linkage as two manipulators. The mobility region of the input link or the output link is derived from the intersection region of the working volumes generated by two manipulators. It can be found by solving the region bounded...

...Yu-Xin Wang; Yi-Ming Wang The configuration bifurcations of Stewart parallel manipulators at singular positions induce the uncertainty of the moving trends of the manipulative platform. The Jacobian matrix method can determine the singular position of Stewart manipulators, but it cannot determine...