Abstract: Cable-driven arms have the advantages of light weight, large workspace, good compliance, high-speed, and acceleration. This paper proposes a cable-driven variable stiffness humanoid arm that can reproduce typical daily ...

Abstract: The rapid development of the automotive industry calls for large demands for fixtures with high modularity and full flexibility. A novel reconfigurable modular fixture is proposed in this article. The fixture, which provides ...

Abstract: This paper develops a geometric method to estimate the error space of 3-DOF planar mechanisms with the Minimum Volume Ellipsoid Enclosing (MVEE) approach. Both the joint clearances and actuator errors are considered in ...