...Tetsuyou Watanabe This paper presents novel manipulability analysis for robotic manipulators, taking the effect of generating joint torques on generable joint velocities and vice versa into consideration. The conventional manipulability is analysis in velocity domain and cannot concern force effect...

...Burak Demirel; M. Tolga Emirler; Ümit Sönmez; Ahmet Yörükoğlu A novel design of compliant slider-crank mechanism is introduced and utilized as an impact and contact-force generator. This class of compliant slider mechanisms incorporates an elastic coupler, which is an initially straight flexible...

...J. Hubert; J.-P. Merlet Singularity is a major problem for parallel robots as in these configurations the robot cannot be controlled, and there may be infinite forces/torques in its joints, possibly leading to a robot breakdown. In the recent years classification and detection of singularities have...