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RISFast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The measurement step of the existing calibration approaches for robotic manipulators can take a considerable amount of time to settle a robotic manipulator down at certain static configurations, making the calibration ...
Cable Path Analysis and Kinematic Control of a Cable-Driven Parallel Robot Allowing Cables to Wrap on Cylinders or Spheres
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Scholars have proposed to allow cables to wrap on the base, the end-effector, or obstacles to expand the workspace of a cable-driven parallel robot (CDPR) in recent years. However, it is not entirely clear whether the path ...
Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article proposes a novel kinematic calibration approach to address the ill-conditioned identification matrix problem and enhance the accuracy of parallel manipulators (PMs). The kinematic calibration approach applies ...
A Spatial Variable-Structure Cable-Driven Parallel Robot Through Cables Wrapping Over a Convex Polyhedron
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. The workspace of a cable-driven parallel robot (CDPR) in a complex environment is limited by obstacles and objects. To adapt a CDPR to a complex environment and enlarge the limited workspace, this article proposes ...
Real-Time Reconfiguration Planning for the Dynamic Control of Reconfigurable Cable-Driven Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The movable anchor points make reconfigurable cable-driven parallel robots (RCDPRs) advantageous over conventional cable-driven parallel robots with fixed anchor points, but the movable anchor points also introduce an ...
Kinematic Analysis and Optimal Design of a Novel Schönflies-Motion Parallel Manipulator With Rotational Pitch Motion for Assembly Operations
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel Schönflies-motion Parallel Manipulator with RotationalPitch motion (SPM-RP) based on a single-platform fully parallel mechanism. An analysis of the position, workspace, velocity, and singularity ...