Parallel manipulators
Parallel Manipulators Applications—A Survey
... of parallel links connected to fixed base, low inertia, higher struc- tural stiffness, reduced sensitivity to certain errors, easy controlling and built-in redundancy but smaller and less dexterous workspace due ...
8
A method to formulate a dimensionally homogeneous Jacobian of parallel manipulators
... Drawing on the needs for kinematic performance evaluation and optimization, this paper presents a general and systematic computational approach for obtaining the f f dimensionally homogeneous Jacobian of f-DOF ...
9
Transmission Index Research of Parallel Manipulators Based on Matrix Orthogonal Degree
... non-redundant parallel manipulators, force Jacobian matrix is the transpose of kinematic Jacobian matrix, which reflects the truth that force and motion are two equivalent aspects of transmis- ...the ...
10
A structure design method for compliant parallel manipulators with actuation isolation
... Compliant/flexure parallel manipulators (CPMs) have expe- rienced rapid development over the two past decades due to their merits of eliminated backlash, friction, wear and lubri- cation as well as a ...
7
A Geometric Approach to the Design of Serial and Parallel Manipulators with Passive Joints
... robotic manipulators in remote and sensitive areas calls for more robust solutions when handling joint failure, and the industry demands mathematically robust approaches to han- dle even the worst case ...and ...
18
Pa 2kinematic bond in translational parallel manipulators
... In this paper, the potentiality of the use of the Pa 2 pair as an adequate kinematic chain to design translational parallel manipulators is studied. After a deep kinematic analysis, it is stated that the ...
15
Effects of Joint Clearance on the Motion Accuracy of Robotic Manipulators
... the parallel devices ...the parallel robot’s accuracy were ...in parallel manipulators due to both clearances and elastic deformations was proposed ...
13
Structural Synthesis of Robot Manipulators by Using Screw with Variable Pitch
... robot manipulators given by author ...platform manipulators is described by the number of mobile platforms (B), the total number of joints on the mobile platforms ( 𝑗 𝑏 ) and the total number of branches ...
14
Generalized Jacobian analysis of lower mobility manipulators
... 2) Exploiting the properties of these subspaces, a methodology for formulating the generalized Jacobian has been proposed. This approach is so general and systematic that it has a potential to enable velocity, accuracy ...
16
Determining Maximum Load Carrying Capacity of Flexible Link Manipulators
... most manipulators in industrial applications are working based on ...of parallel robots [2], rigid mobile manipulators [3], exible joint manipulators [4], exible link manipulators [5], ...
11
SYNTHESIS OF PARALLEL MECHANISM BASED ROBOT MANIPULATORS FROM STRUCTURAL POINT OF VIEW
... the parallel manipulators are number of branches, platforms and the sum of mobility of kinematic ...a parallel manipulator is a function of above said parameters. A parallel manipulator can be ...
5
A comparative survey of various uterine manipulators used in operative laparoscopy
... Later, uterine manipulators with balloon inflated tips were developed, which did not require the tenaculum during manipulation. These are held in place by a balloon inflated within the uterine cavity with ...
5
Control of Nonholonomic mobile Manipulators for Cooperative Object Transportation
... nonholonomic manipulators handling a deformable object in the presence of ...freedom manipulators are used for cooperative ...mobile manipulators to approach and grasp the ...
11
Robust Hybrid Motion Force Control Algorithm for Robot Manipulators
... manipulators. The main contribution of this paper is that the proposed hybrid control system is able to accomplish motion objectives in free directions and force objectives in constrained directions under ...
10
Maximum Allowable Load On Wheeled Mobile Manipulators (RESEARCH NOTE)
... Abstract This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile ...
14
Time-Optimal Online Trajectory Generator for Robotic Manipulators
... Whenever the trajectory generator component receives a new final desired position, it gets the current state of the robot from the LWR FRI component and calculates the new trajectory to [r] ...
6
Overview of Key Technology of Automatic Control for Space Flexible Manipulators
... Lagrange method is used to establish the dynamics modeling method for the space manipulators. It is the result of the characteristic analysis and summary of the flexible-bar robot and the optimization of its con- ...
6
A Neural Network Controller for Trajectory Control of Industrial Robot Manipulators
... Abstract— This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and ...
8
Robust control for robotic manipulators with non smooth strategy
... Abstract: In this paper, a novel non-smooth robust control approach is presented for robotic manipulators. By using decimal power rule in Lyapunov redesign methods, the conventional robust control for robot is ...
9
17. Design, Development and Kinematic Analysis of Robotic Arm Manipulators
... A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm the arm may be the sum total of the mechanism or may be part of a more multifarious robot. The links of such a ...
8