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RISDistance-to-Instability and Distance-to-Singularity Metrics for Continuum Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Existing metrics defined to evaluate the proximity of continuum robots (CRs) to singularities or instability areas are frequently based on matrices involving mixed units, making them sensitive to a change in the ...
On the Dynamic Properties of Rigid-Link Flexible-Joint Parallel Manipulators in the Presence of Type 2 Singularities
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of ...
On the Dynamic Properties of Flexible Parallel Manipulators in the Presence of Type 2 Singularities
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross ...
Experimental Safety Analysis of R-Min, an Underactuated Parallel Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The R-Min robot is an intrinsically safe parallel manipulator dedicated to pick-and-place operations. The proposed architecture is based on a five-bar mechanism, with additional passive joints in order to obtain a planar ...
Global Identification of Joint Drive Gains and Dynamic Parameters of Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Offline robot dynamic identification methods are based on the use of the inverse dynamic identification model (IDIM), which calculates the joint forces/torques that are linear in relation to the dynamic parameters, and on ...
Pantopteron: A New Fully Decoupled 3DOF Translational Parallel Robot for Pick-and-Place Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a novel 3DOF fully decoupled translational parallel robot, called the Pantopteron, is presented. This manipulator is similar to the Tripteron Cartesian parallel manipulator, but ...
Physical Interpretation of Rigidity for Bearing Formations: Application to Mobility and Singularity Analyses
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Research on formation control and cooperative localization for multirobot systems has been an active field over the last years. A powerful theoretical framework for addressing formation control and localization, especially ...
Design Procedure for a Fast and Accurate Parallel Manipulator
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a design procedure for a two degree-of-freedom (DOF) translational parallel manipulator, named IRSBot-2. This design procedure aims at determining the optimal design parameters of the IRSBot-2 such that ...
Investigation on the Effort Transmission in Planar Parallel Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the design of a mechanism, the quality of effort transmission is a key issue. Traditionally, the effort transmissivity of a mechanism is defined as the quantitative measure of the power flowing effectiveness from the ...
Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator With High-Load Carrying Capacity
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, a new four degrees of freedom 3T1R parallel manipulator with high-load carrying capacity is presented. This manipulator generates Schönflies motions, in which the moving ...