Related papers: Cuspidal Robots
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in…
This article synthezises the most important results on the kinematics of cuspidal manipulators i.e. nonredundant manipulators that can change posture without meeting a singularity. The characteristic surfaces, the uniqueness domains and the…
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to…
Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the workspace of 3R serial robots. The existence of a cusp point…
A cuspidal robot can move from one inverse kinematics (IK) solution to another without crossing a singularity. Multiple industrial robots are cuspidal. They tend to have a beautiful mechanical design, but they pose path planning challenges.…
We present a theoretical and numerical analysis of the kinematics for the "Transpressor", a cuspidal 6R robot. It admits up to 16 inverse kinematics solutions which are described geometrically. For special target poses, we provide the…
This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness).…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
This study presents a systematic enumeration of spherical ($SO(3)$) type parallel robots' variants using an analytical velocity-level approach. These robots are known for their ability to perform arbitrary rotations around a fixed point,…
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.…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
Parallel robots admit generally several solutions to the direct kinematics problem. The aspects are associated with the maximal singularity free domains without any singular configurations. Inside these regions, some trajectories are…
In field environments, numerous robots necessitate manual intervention for restoration of functionality post a turnover, resulting in diminished operational efficiency. This study presents an innovative design solution for a reversible…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equi-lateral mobile platform and an equilateral-shaped base. Like the other 3-PPPS robots studied in the literature, it is proved that the parallel…
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…
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects…
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…
Continuum robots (CRs), owing to their compact structure, inherent compliance, and flexible deformation, have been widely applied in various fields. By coordinating multiple CRs to form collaborative continuum robots (CCRs), task…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…