Related papers: Workspace and Kinematic Analysis of the VERNE mach…
This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile…
This paper presents a method to generate feasible, unique forward-kinematic solutions for a general Stewart platform. This is done by using inverse kinematics to obtain valid workspace data and corresponding actuator lengths for the moving…
Voxel-based structures provide a modular, mechanically flexible periodic lattice which can be used as a soft robot through internal deformations. To engage these structures for robotic tasks, we use a finite element method to characterize…
The kinematic analysis of a spherical wrist with parallel architecture is the object of this article. This study is part of a larger French project, which aims to design and to build an eel like robot to imitate the eel swimming. To…
The Deep Underground Neutrino Experiment (DUNE) is a long-baseline neutrino experiment designed to mainly investigate oscillation parameters, supernova physics and proton decay. Its far detector will be composed of four liquid argon time…
This paper introduces a closed-form analytical solution for the inverse kinematics (IK) of a 6 Degrees of Freedom (DOF) serial robotic manipulator arm, configured with six revolute joints and utilized within the Lunar Exploration Rover…
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…
A wind turbine works with the principle of extracting energy from the wind to generate electricity. The power generated is directly proportional to the wind speed available. There are two major types of wind turbine design namely the…
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching…
A compact large-range six-degrees-of-freedom (six-DOF) parallel positioning system with high resolution, high resonant frequency, and high repeatability was proposed. It mainly consists of three identical kinematic sections. Each kinematic…
In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic…
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic…
Human movement analysis is crucial in health and sports biomechanics for understanding physical performance, guiding rehabilitation, and preventing injuries. However, existing tools are often proprietary, expensive, and function as "black…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
The aim of this paper is to characterize the moveability of fully-parallel manipulators in the presence of obstacles. Fully parallel manipulators are used in applications where accuracy, stiffness or high speeds and accelerations are…
Inverse kinematics - finding joint poses that reach a given Cartesian-space end-effector pose - is a common operation in robotics, since goals and waypoints are typically defined in Cartesian space, but robots must be controlled in joint…
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements.…
Cross-flow, or vertical-axis, turbines are a promising technology for capturing kinetic energy in wind or flowing water and their inherently unsteady fluid mechanics present unique opportunities for control optimization of individual rotors…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…