Related papers: Stiffness Analysis of Overconstrained Parallel Man…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage…
Starting from the definition of a stiffness matrix, the authors present a new formulation of the Cartesian stiffness matrix of parallel mechanisms. The proposed formulation is more general than any other stiffness matrix found in the…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric…
Rigid link flapping mechanisms remain the most practical choice for flapping wing micro-aerial vehicles (MAVs) to carry useful payloads and onboard batteries for free flight due to their long-term durability and reliability. However, MAVs…
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In…
The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the…
The paper presents the compliance errors compensation technique for over-constrained parallel manipulators under external and internal loadings. This technique is based on the non-linear stiffness modeling which is able to take into account…
The paper focuses on the mechanics of a compliant serial manipulator composed of new type of dual-triangle elastic segments. Both the analytical and numerical methods were used to find the manipulator stable and unstable equilibrium…
This paper evaluates how laminated techniques may be used to replicate the performance of more traditionally manufactured robotic manipulators. In this case study, we introduce a laminated 2-DOF spherical, parallel manipulator. Taking…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
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…
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 Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
Nowadays, being fast and precise are key requirements in Robotics. This work introduces a novel methodology to tune the stiffness of Cable-Driven Parallel Robots (CDPRs) while simultaneously addressing the tension distribution problem. In…
The paper focuses on the stiffness analysis of multi-link serial planar manipulators, which may demonstrate nonlinear stiffness behavior under the compressive loading. Two important cases are considered, where the manipulator has either a…
Reinforcement-learned locomotion enables legged robots to perform highly dynamic motions but often accompanies time-consuming manual tuning of joint stiffness. This paper introduces a novel control paradigm that integrates variable…