Related papers: Kinematic and Dynamic Analyses of the Orthoglide 5…
The paper proposes a new calibration method for parallel manipulators that allows efficient identification of the joint offsets using observations of the manipulator leg parallelism with respect to the base surface. The method employs a…
The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a…
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified test postures. It employs a low-cost measuring system…
This paper deals with a predictive model of kinematical performance in 5-axis milling within the context of High Speed Machining. Indeed, 5-axis high speed milling makes it possible to improve quality and productivity thanks to the degrees…
Human kinematics is of fundamental importance for rehabilitation and assistive robotic systems that physically interact with human. The wrist plays an essential role for dexterous human-robot interaction, but its conventional kinematic…
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table.…
This paper deals with the in-depth kinematic analysis of a special spherical parallel wrist, called the Agile Eye. The Agile Eye is a three-legged spherical parallel robot with revolute joints in which all pairs of adjacent joint axes are…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators have congruent base and moving platforms and the moving platform is rotated of 180 deg about an axis in the plane. The forward kinematics is reduced…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
Many algorithms for control, optimization and estimation in robotics depend on derivatives of the underlying system dynamics, e.g. to compute linearizations, sensitivities or gradient directions. However, we show that when dealing with…
This work presents a three-dimensional geometric resolution method to calculate the complete inverse kinematics of a 7-degree-of-freedom articulated arm, including the hand itself. The method is classified as an analytical method with…
This work investigates an application-driven co-design problem where the motion and motors of a six degrees of freedom robotic manipulator are optimized simultaneously, and the application is characterized by a set of tasks. Unlike the…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
We model and simulate the stepping dynamics of the kinesin motor including electric and mechanical forces, environmental noise, and the complicated potentials produced by tracking and neighboring protofilaments. Our dynamical model supports…
This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The…
The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…