Abstract: Presented in this paper is a method for controlling vibrations of a redundant flexible-joint manipulator. The main idea behind this method is to utilize joint redundancy to minimize the change ...

Abstract: This paper presents a real-time method for solving the forward kinematics of a tripod with fixed-length legs. The basic idea is to model the problem at hand based on a spatial four-bar linkage ...

Abstract: In this paper the effect of leg inertia on hexapod dynamics is investigated. Hexapods under investigation are a new type that is made of sliding legs with constant lengths. A complete dynamic ...

Abstract: This paper studies the problem of the nonstationary vibration of a fully flexible parallel kinematic machine (PKM) that has flexibilities both in links and in joints. In the stationary case, ...

Abstract: Dynamic modeling and simulation of percussive impact riveting are presented for robotic automation. This is an impact induced process to deform rivets, which involves an impact rivet gun driven ...

Abstract: In this paper the tripod dynamics and its inertia effect is studied. The tripod design is becoming popular for the development of parallel kinematic machines (PKMs). The combination of a tripod ...

Abstract: In this paper, a new method for optimal calibration of parallel kinematic machines (PKMs) is presented. The basis of the methodology is to exploit the least error sensitive regions in the ...

Abstract: We present a generic methodology for machinery fault diagnosis through pattern recognition techniques. The proposed method has the advantage of dealing with complicated signatures, such as those ...

Abstract: Developed in this paper is a hybrid method for calibration of modular reconfigurable robots (MRRs). The underlying problem under study is unique to MRRs, that is, how to calibrate a set of ...

Abstract: To enlarge the workspace and improve the motion capability of a parallel robot, the base of the robot can be guided to move along a linear or curved track. This paper aims at analyzing how ...