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Stiffness analysis of overconstrained parallel manipulators

Anatol Pashkevich, Damien Chablat, Philippe Wenger
2009 Mechanism and Machine Theory  
In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which  ...  Accuracy of the proposed approach was evaluated for a case study, which focuses on stiffness analysis of Orthoglide parallel manipulator.  ...  Acknowledgments This work has been partially funded by the European projects NEXT, acronyms for "Next Generation of Productions Systems", Project no° IP 011815.  ... 
doi:10.1016/j.mechmachtheory.2008.05.017 fatcat:snsl3ybj7zesbdaaxgxfpyzade

A New Concept Compliant Platform with Spatial Mobility and Remote Actuation

Nicola Pio Belfiore
2019 Applied Sciences  
This paper presents a new tendon-driven platform with spatial mobility. The system can be obtained as a monolithic structure, and its motion is based on the concept of selective compliance.  ...  Surgical operations in laparoscopic environments are the natural fields of applications for this device.  ...  The identification of a proper PRBM, as proposed in the present contribution, could be helpful to complete typical tasks in robotics, such as the study of the critical configurations.  ... 
doi:10.3390/app9193966 fatcat:ct3u3lormjhkhdcxlkh2ho3e7m

Methods for Force Analysis of Overconstrained Parallel Mechanisms: A Review

Wen-Lan Liu, Yun-Dou Xu, Jian-Tao Yao, Yong-Sheng Zhao
2017 Chinese Journal of Mechanical Engineering  
A review of the methods for force analysis of both passive and active overconstrained PMs is presented.  ...  The existing deficiencies and development directions of the force analysis methods for overconstrained systems are indicated based on the overview.  ...  Discussion: Based on the constraint Jacobian matrix of a passive overconstrained mechanism, several methods were proposed to isolate the joint reactions that can be uniquely determined.  ... 
doi:10.1007/s10033-017-0199-9 fatcat:nkoha2hgwrgqnnssoanqilszva

An Original Classification of Rehabilitation Hand Exoskeletons

Marco Troncossi
2016 Journal of Robotics and Mechanical Engineering Research  
Hand exoskeletons are increasingly widespread in robot-based rehabilitation of patients suffering from different pathologies (in particular neurological diseases).  ...  A special kind of robotic hand is the hand exoskeleton, that is directly attached to the human hand with the aim of providing assistance in motion/power generation.  ...  Acknowledgments The research was carried out within the framework of Project SEED 2009 ("BRAVO -Brain computer interfaces for Robotic enhanced Action in Visuo-motOr tasks"), funded by the Italian Institute  ... 
doi:10.24218/jrmer.2016.18 fatcat:ce6sybxhoneyrh7fcxtucb36du

A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Chunbing Wu, Zhuang Zhang, Wen Zheng
2022 Machines  
The robot mainly consists of two leaf springs, connection part, robot feet, and two TCP actuators. A system level model of a soft crawling robot is presented for flexible and effective locomotion.  ...  Twisted and coiled polymer (TCP) actuators are becoming increasingly prevalent in soft robotic fields due to their powerful and hysteresis-free stroke, large specific work density, and ease of fabrication  ...  The study is critical as the development of control system for TCP based actuator and robot relying on it.  ... 
doi:10.3390/machines10020142 fatcat:m5t34cvn2nezpbxw3z6qst4cmm

Roman: Making Everyday Objects Robotically Manipulable with 3D-Printable Add-on Mechanisms [article]

Jiahao Li, Alexis Samoylov, Jeeeun Kim, Xiang 'Anthony' Chen
2022 arXiv   pre-print
Roman serves as a practical alternative for enabling robotic manipulation of everyday objects.  ...  Complementary to existing research on developing grippers and control algorithms, we present Roman, a suite of hardware design and software tool support for robotic engineers to create 3D printable mechanisms  ...  The design of robotic grippers has been extensively studied in academia and industry by researchers and practitioners to explore designs of different types of robotic end effectors, e.g., grippers for  ... 
arXiv:2205.07437v1 fatcat:bengouxxjrd27alts53jxcv3vm

Parallel Robot

Ahmed Deabs
In this paper, a detailed review of parallel robotics is submitted, the paper depends on the latest researches and books related to different types of parallel robots.  ...  validation, combined methods and article review.This review aims to give a clear view of parallel robotics' latest trends in different types and a comprehensive research methodology survey.  ...  natural frequency was considered as the main factor to determine the robot accuracy [93] , A 5 DOF UPS/PRPU was optimized by adding a drive to the middle of the robot, the system was modeled dynamically  ... 
doi:10.6084/m9.figshare.20173295.v1 fatcat:xytrucsq3jexxe2ffcureua7x4

Human-Robot Interaction Review: Challenges and Solutions for Modern Industrial Environments

Diego Rodriguez-Guerra, Gorka Sorrosal, Itziar Cabanes, Carlos Calleja
2021 IEEE Access  
Thus, a four-level classification is proposed, which collects the identified challenges and the previous developments in the field of human-robot interaction.  ...  Lastly, a discussion and conclusion are exposed to analyze the degree of development in the field and its potential growth.  ...  Thus, they propose the constrained bidirectional, rapidly exploring random tree (CBiRRT) algorithms and study its performance on a shared screw driving task [123] .  ... 
doi:10.1109/access.2021.3099287 fatcat:o4zehal7uzcsrmv4fyezgwm5yq

Modeling of Linear Displacement and Design of Adaptive Robust Controller

Lei Jiang, Vincenzo Vespri
2020 Mathematical Problems in Engineering  
Many studies have been proposed to estimate its linear displacement of actuation based on the angular measurement of the rotary device.  ...  In this paper, an ARC control scheme with force feedback has been developed for a high-accuracy twisted-string actuation system.  ...  Würtz et al. have presented a simple kinetostatic model of a twisted-string-based transmission system [6] .  ... 
doi:10.1155/2020/7014526 fatcat:3fvhlyi4erfubdcjd5cwwp6kwa

The weighted Moore–Penrose generalized inverse and the force analysis of overconstrained parallel mechanisms

Wenlan Liu, Yundou Xu, Jiantao Yao, Yongsheng Zhao
2016 Multibody system dynamics  
The solution for the optimal distribution of the driving forces/torques of redundantly actuated PMs is derived in the form of a weighted Moore-Penrose inverse.  ...  Using the Moore-Penrose generalized inverse to solve the driving forces/torques or constraint forces/couples of overconstrained PMs provides solutions of a unified, simple form and improves computational  ...  [21] discussed which parts of the overconstrained mechanism should be modeled as flexible bodies to obtain a unique set of all-joint reactions. Huang et al.  ... 
doi:10.1007/s11044-016-9500-4 fatcat:tcvft5o42jcahgpqbwtcjs5ecy

Preliminary Studies on Force/Motion Control of Intelligent Mechanical Systems [article]

Dinesh Rabindran
2014 arXiv   pre-print
A robot force control testbed was developed using Schunk's PowerCube 6-DOF Arm and a six-axis ATI force/torque sensor.  ...  We present a comprehensive literature review on robot force control, including algorithms, specialized actuators, and robot control software.  ...  Control and operation of systems should be based on a comprehensive approach such as intelligent control based on In real contact situations, there are different kinds of forces involved, viz. reaction  ... 
arXiv:1402.5461v1 fatcat:xcnz2pjnyvf2fpfsvc7nd7hhjq

Enhanced stiffness modeling of serial manipulators with passive joints [chapter]

Anatol Pashkevich, Alexandr Klimchik, Damien Chablat
2010 Advances in Robot Manipulators  
The chapter focuses on the enhanced stiffness modeling and analysis of serial kinematic chains with passive joints, which are widely used in parallel robotic systems.  ...  It is assumed that the manipulator elasticity is described by a multidimensional lumped-parameter model, which consists of a chain of rigid bodies connected by 6-dof virtual springs.  ...  Acknowledgements The work presented in this paper was partially funded by the Region "Pays de la Loire", France and by the EU commission (project NEXT).  ... 
doi:10.5772/9539 fatcat:b7lz7eehtvej3ot45foolnl43u

The duality relation between mechanisms and trusses

Offer Shai
2001 Mechanism and Machine Theory  
Having defined the dual of a planar graph, the paper shows that, in general, the graph representations of mechanisms and trusses are mathematically dual.  ...  These sections are based upon material, which has already been reported in the literature, but also include many new details in the solution methods.  ...  The author also wishes to thank the Research Authority of Tel-Aviv University for financial support.  ... 
doi:10.1016/s0094-114x(00)00050-1 fatcat:toddxljmojcjxabe5zznld3jhi

Cascading Network Failure in Power Grid Blackouts [chapter]

Dr.Ian Dobson
2014 Encyclopedia of Systems and Control  
Cascading failure consists of complicated sequences of dependent failures and can cause large blackouts.  ...  The emerging risk analysis, simulation, and modeling of cascading blackouts are briefly surveyed, and key references are suggested.  ...  Other Models The systems studied so far are based on the assumptions that units all behave the same, and they share a common clock and update their state in a synchronous fashion.  ... 
doi:10.1007/978-1-4471-5102-9_264-1 fatcat:slhzrvsilfephprfzlkkccbyma

Cooperative Manipulators [chapter]

Fabrizio Caccavale
2015 Encyclopedia of Systems and Control  
Cascading failure consists of complicated sequences of dependent failures and can cause large blackouts.  ...  The emerging risk analysis, simulation, and modeling of cascading blackouts are briefly surveyed, and key references are suggested.  ...  Other Models The systems studied so far are based on the assumptions that units all behave the same, and they share a common clock and update their state in a synchronous fashion.  ... 
doi:10.1007/978-1-4471-5058-9_175 fatcat:gzo7xen4ynezhesyrpsldzj5bi
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