... Parallel Robots Journal of Mechanisms and Robotics. Received September 14, 2023; Accepted manuscript posted September 25, 2024. doi:10.1115/1.4066744 Copyright © 2024 by ASME Accepted Manuscript Not Copyedited 1 Parallel Force Feedback Device Design with 2 Constant Jacobian Matrix and Net Weight 3 Fully...

... data-enabled analysis of mechanical systems and robots parallel robots theoretical and computational kinematics Remark 1 Equation (2) describes the position interpolation of the j th segment path from the j th configuration to the ( j + 1 ) th configuration...

... 06 09 2024 13 09 2024 Parallel Robots National Natural Science Foundation of China 10.13039/501100001809 52275004 52305004 52405005 62333023 Accepted Manuscript Not Copyedited Journal of Mechanisms and Robotics. Received December 12, 2023; Accepted manuscript posted...

... manipulator. For this parallel robot, the determination of the closest architecture singularity is trivial; besides the possibility that two legs coincide (case 0), there is only one further case that either all three base/platform anchor points collapse into a point, which is just the centroid of the base...

... parallel robots monolithic design additive manufacturing The Delta robot, introduced by Clavel in the 1980s [ 1 ], is one of the most widely studied and utilized parallel manipulators. The robot comprises three actuators on its base, which drive three parallel arms connected to an end-effector...

.... , 2019 , “ A 2 Dof Continuum Parallel Robot for Pick & Place Collaborative Tasks ,” Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science , Krakow, Poland , June 30–July 4 , pp. 1979 – 1988 . [15] Mauze , B. , Dahmouche , R. , Laurent , G. J. , Andre...

...Foroogh Behroozi; Ramin Mersi; Antoine Benoist; Ru Ying Yong; Philippe Cardou; Stéphane Caro In the realm of cable-driven parallel robots (CDPRs), the conventional notion entails that each cable is directly actuated by a corresponding actuator, implying a direct relationship between the number...

...Felix Trautwein; David Dietrich; Andreas Pott; Alexander Verl This paper presents a strategy for stable topological in-operation-reconfiguration of cable-driven parallel robots. The term topological refers to the addition or removal of active cables and thus to changing the topology of the cable...

.... , and Cong , S. , 2021 , “ Calibration of Geometric Parameters and Error Compensation of Non-Geometric Parameters for Cable-Driven Parallel Robots ,” Mechatronics , 77 , p. 102595 . 10.1016/j.mechatronics.2021.102595 [7] Li , Y. , and Xu , Q. , 2008 , “ Stiffness Analysis for a 3-PUU...

... medical robotics rehabilitation training optimal design screw theory mechanism design parallel mechanisms and robots parallel robots rehabilitation mechanisms and robots National Natural Science Foundation of China 10.13039/501100001809 52205028 62027812 Ankle is the most...

...-driven parallel robots’ (CDPRs) architectures are reported to demonstrate the method’s capabilities. 1 Corresponding author. Email: vincenzo.dipaola@edu.unige.it Email: alexandre.goldsztejn@ls2n.fr Email: matteo.zoppi@unige.it Email: stephane.caro@ls2n.fr Contributed...

... individual CRs that can reconfigure into a parallel robot in the target workspace. This way, the CRs can find their way from different paths and follow complex narrow geometries, thanks to their small diameter, and then reconfigure to a parallel robot to increase stiffness and accuracy. Accordingly...

... for publication in the J ournal of M echanisms and R obotics . 21 06 2023 02 01 2024 03 01 2024 05 02 2024 parallel manipulator screw theory kinematic model dynamic model performance analysis parallel mechanisms and robots parallel robots National Natural Science...

...Ravinder Kumar; T. A. Dwarakanath; Gaurav Bhutani; S. K. Sinha The forward kinematics (FK) of a 6-6 universal-prismatic-spherical (UPS) structure of a parallel robot is highly nonlinear, coupled, and has a one-to-many nature of mapping. There exists no close form solution to a forward kinematic...

...Charles-Antoine Beaulieu; Tan-Sy Nguyen; Thierry Laliberté; Clément Gosselin A gripper design is adapted to offer grasping and scooping capabilities to a parallel robot. This enables the parallel robot to manipulate not only large objects, but also thin objects lying on flat surfaces. Moreover...

...Arda Yiğit; David Breton; Clément Gosselin Mechanical interference and singularities within the reachable workspace often restrict the orientational workspace of parallel robots. Introducing kinematic redundancy can alleviate this limitation. This paper discusses the possibility to produce...

... parallel robots, cables are utilized to control a moving platform, whereas parallel continuum manipulators employ flexible limbs. By combing these two types of mechanisms, the authors propose a novel flexible limb/cable hybrid-driven parallel continuum manipulator (HDPCM). The flexible limbs, equipped...

... multi-mode parallel mechanism configuration synthesis finite screw displacement manifold motion mode mechanism design mechanism synthesis parallel mechanisms and robots parallel robots Hebei Province Science and Technology Support Program 10.13039/501100005064 202230808010057...

... Parallel Robots ,” IEEE/ASME Trans. Mechatron. , 27 ( 6 ), pp. 4707 – 4717 . 10.1109/TMECH.2022.3164247 [5] Clavel , R. , 1988 , “ Delta: A Fast Robot With Parallel Geometry ,” Proceedings of the 18th International Symposium on Industrial Robot , Lausanne, Switzerland , Apr. 26–28 , pp...

.... , Dhupia , J. , Verl , A. , Bronlund , J. , and Xu , W. , 2020 , “ Optimizing the Torque Distribution of a Redundantly Actuated Parallel Robot to Study the Temporomandibular Reaction Forces During Food Chewing ,” ASME J. Mech. Rob. , 12 ( 5 ), p. 051008 . 10.1115/1.4046651 [2...