Abstract: A dynamically balanced robotic manipulator does not exert forces or moments onto the base on which it is fixed; this can be important for the performance of parallel robots as they are able to move at very high speeds, ...

Abstract: Two degreeoffreedom (2DOF) closed spatial linkages can be useful in the design of robotic devices for spatial rigidbody guidance or manipulation. One of the simplest linkages of this type, without any passive DOF on its ...

Abstract: In the context of robot manipulation, Salisbury's taxonomy is the common standard used to define the types of contact interactions that can occur between the robot and a contacted object; the basic concept behind such ...

Abstract: This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that ...

Abstract: While the modeling analysis of the kinetostatic behavior of underactuated tendon-driven robotic fingers has been largely addressed in the literature, tendon routing is often not considered by these theoretical models. The ...

Abstract: Minimalist, underactuated hand designs can be modified to produce useful, dexterous, in-hand capabilities without sacrificing their passive adaptability in power grasping. Incorporating insight from studies in parallel ...