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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 work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to…
An oblivious mobile robot is a stateless computational entity located in a spatial universe, capable of moving in that universe. When activated, the robot observes the universe and the location of the other robots, chooses a destination,…
Mobile robots are widely used to perform various technological operations in several sectors of the national economy. These operations are related to transporting goods and equipment, performing work to determine the condition of a…
This work designs a mechanical tool for robots with 2-finger parallel grippers, which extends the function of the robotic gripper without additional requirements on tool exchangers or other actuators. The fundamental kinematic structure of…
A robot simulation system is a basic need for any robotics application. With it, developers' teams of robots can test their algorithms and make initial calibrations without risk of damage to the real robots, assuring safety. However,…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
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…
The intrinsic modularity and reconfigurability of modular reconfigurable robots (MRR) confer advantages such as versatility, fault tolerance, and economic efficacy, thereby showcasing considerable potential across diverse applications. The…
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…
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…
Industrial high speed laser operations the use of delta parallel robots potentially offers many benefits due to their structural stiffness and limited moving masses. This paper deals with a particular Delta, developed for high speed laser…
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…
This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
The aim of this paper is to classify one family of 3R serial positioning manipulators. This categorization is based on the number of cusp points of quaternary, binary, generic and non-generic manipulators. It was found three subsets of…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
Most conventional wheeled robots can only move in flat environments and simply divide their planar workspaces into free spaces and obstacles. Deeming obstacles as non-traversable significantly limits wheeled robots' mobility in real-world,…