...Zhengfeng Bai; Yuxin Niu; Qingfeng Kong The flexible or continuum manipulators present excellent dexterity in confined space, which is beneficial to wide application prospects in many fields. In this paper, we establish the kinematic model and propose a trajectory planning algorithm for multi...

.... This paper proposes a kinematic redundant robot composed of a novel two degrees-of-freedom mechanism with a closed kinematic chain. After describing a task-priority inverse kinematic control framework used for joint trajectory planning exploiting the robot kinematic redundancy, the paper analyses...

... of TBot is discussed, and the trajectory planning is studied with the genetic algorithm to further reduce the energy consumption, considering the influence of the passive spring. Finally, on the basis of 30% less energy consumption for the Adept Motion than Delta, extra 14.3% energy is saved through...

... of parallel manipulators with flexible joints is studied. The suggested technique is illustrated by the example of a 5R parallel manipulator with flexible joints. It is shown that passing through singularity is possible if the 12th-order polynomial trajectory planning is applied. The obtained results...