相关论文: An analysis of higher-order kinematics formalisms …
The paper deals with the developing of the methodological backgrounds for the modeling and simulation of complex dynamical objects. Such backgrounds allow us to perform coordinate transformation and formulate the algorithm of its usage for…
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 paper focuses on the design of a parallel robot designed for robotic assisted minimally invasive pancreatic surgery. Two alternative architectures, called ATHENA-1 and ATHENA-2, each with 4 degrees of freedom (DOF) are proposed. Their…
With the growing complexity and capability of contemporary robotic systems, the necessity of sophisticated computing solutions to efficiently handle tasks such as real-time processing, sensor integration, decision-making, and control…
We propose a new parallel framework for fast computation of inverse and forward dynamics of articulated robots based on prefix sums (scans). We re-investigate the well-known recursive Newton-Euler formulation of robot dynamics and show that…
The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools.…
Parallel manipulators, also called parallel kinematics machines (PKM), enable robotic solutions for highly dynamic handling and machining applications. The safe and accurate design and control necessitates high-fidelity dynamics models.…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
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 presents a new geometric and recursive algorithm for analytically computing the forward dynamics of heavy-duty parallel-serial mechanisms. Our solution relies on expressing the dynamics of a class of linearly-actuated parallel…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…
We propose a novel unifying scheme for parallel implementation of articulated robot dynamics algorithms. It is based on a unified Lie group notation for deriving the equations of motion of articulated robots, where various well-known…
We present a novel class of methods to compute functions of matrices or their action on vectors that are suitable for parallel programming. Solving appropriate simple linear systems of equations in parallel (or computing the inverse of…
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…
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…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
The paper presents the methodology used for accuracy and repeatability measurements of the experimental model of a parallel robot developed for surgical applications. The experimental setup uses a motion tracking system (for accuracy) and a…
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…
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…