Robot-assisted surgical systems have been widely applied for minimally invasive needle biopsies thanks to their excellent accuracy and superior stability compared to manual surgical operations, which lead to possible fatigue and misoperation due to l...
With the rapid development of robotics technology, quadruped robots have shown significant potential in navigating complex terrains due to their excellent stability and adaptability. This paper proposes an adaptive dynamic programming control method...
A novel topology optimization approach is proposed in this paper for the design of three rotational degree-of-freedom (DOF) spatially compliant mechanisms, combining the Jacobian isomorphic mapping matrix with the solid isotropic material with penali...
The parallel mechanism exhibits high stiffness and excellent dynamic response, making it ideal for high-precision applications. In our early work, a novel 6-DOF redundant parallel posture mechanism with four limbs for solar wing docking has been prop...
Robotic manipulators inevitably experience the impact of uncertainties and errors, such as dimensional tolerances and joint clearances. Therefore, this paper proposes a novel method based on an interval approach to evaluate the kinematic reliability...
Intelligence development has put forward increasing requirements of real-time planning and dynamic feedback in controlling robotic arms. It has become essential in engineering applications to complete the kinematics calculation of complex manipulator...
Portable articulated coordinate measuring machine (PACMM) is a kind of high accuracy coordinate measurement instrument and it has been widely applied in manufacturing and assembly. A number of key problems should be taken into consideration to achiev...
The new generation of robots (Industry 5.0 and beyond) is expected to be accompanied by the massive introduction of autonomous and cooperative agents in our society, both in the industrial and service sectors. Cooperation with humans will be simplifi...
Background/Objectives: Ankle rehabilitation robotics has garnered a lot of interest because of its ability to improve therapeutic outcomes and enable quantitative patient monitoring. The ankle has a complex biomechanical system, so the design needs t...
This paper presents a more general method to study the dynamic behavior of a planar mechanism with joints. To do this, Graph Theory is used. A topological description is presented based on which a corresponding graph is attached to any mechanism. Thi...
This article addresses the problem of controlling an omni-tracked vehicle equipped with parallel, fully overlapping omnidirectional tracks. A kinematic model is presented that enables the determination of the vehicle body’s displacement relativ...
Inverse kinematics is a fundamental problem in manipulator robotics: a set of joint angles must be calculated so that the robot arm can be manipulated to the corresponding desired end effector position and orientation (also known as “pose&rdquo...
It is a challenging task to track objects moving along an unknown trajectory. Conventional model-based controllers require detailed knowledge of a robot’s kinematics and the target’s trajectory. Tracking precision heavily relies on kinema...
The ankle is a crucial joint that supports the human body weight. An ankle sprain will adversely affect the patient’s daily life, so it is of great significance to ensure its strength. To help patients with ankle dysfunction to carry out effect...
The kinematics of 3-PRS parallel mechanisms (PMs), an important category of 2R1T PMs, is very important for the motion control and error compensation of PMs. In order to produce a spindle head that could meet the requirements of various machining acc...
To assist an individual with an amputation in regaining daily quality of life, a 2SPU-RU type parallel mechanism was developed based on ankle biomechanics. The inverse kinematic analysis of this mechanism was performed using the vector method. Subseq...
As one of the fastest running animals on land, the ostrich’s excellent athletic ability benefits from its unique leg structure. Based on the idea of bionics, this paper intends to obtain a kind of robotic leg structure with a similar buffering...
The leg structure with high dynamic stability can make the bionic biped robot have the inherent conditions to perform elastic and highly dynamic motion. Compared with the quadruped robot, the leg structure of the biped robot is more complex and has m...
Background: Kinematic alignment (KA) restores native limb alignment following total knee arthroplasty (TKA). The association of this technique with a medial pivot implant design attempts to re-establish the physiological kinematics of the knee. This...
A soft joint has been designed and modeled to perform as a robotic joint with 2 Degrees of Freedom (DOF) (inclination and orientation). The joint actuation is based on a Cable-Driven Parallel Mechanism (CDPM). To study its performance in more detail,...
A parallel four-legged pipeline robot is designed to mitigate the issue of uneven motor loading on the single-leg linkage responsible for movement along the pipe diameter. This issue occurs because the drive motor located closer to the robot body req...
In the last decade, cable-suspended parallel robots have attracted significant interest due to their large workspaces and high dynamic performances. However, a significant drawback is that cables must always be in tension to control the motion. Using...
This paper presents an efficient algorithm for the reconfiguration of a parallel kinematic manipulator with four degrees of freedom. The reconfiguration of the parallel manipulator is posed as a nonlinear optimization problem where the design variabl...
The Delta robot is a parallel robot that is over-actuated and has a highly nonlinear dynamic model, which poses a significant challenge to its control design. The inverse kinematics that maps the motor angles to the position of the end effector is hi...
Controlling a chain of tethered mobile robots (TMRs) can be a challenging task. This kind of system can be considered kinematically as an open-chain robotic arm where the mobile robots are considered as a revolute joint and the tether is considered a...
Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation of the mobile platform or end effector. The use of cables instead of rigid links offers some advantages over thei...
By combining a parallel mechanism with integrated flexible joints, a large measurement range and high accuracy sensor is realized. However, the main errors of the sensor involve not only assembly errors, but also deformation errors of its flexible le...
At present, in specific and complex industrial operations, robots have to respect certain requirements and criteria as high kinematic or dynamic performance, specific dimensions of the workspace, or limitation of the dimensions of the mobile elements...
Piezoelectric actuators (PEAs) and compliant parallel mechanisms (CPMs) are advantageous for designing nanopositioning stages (NPSs) with multiple degrees of freedom (multi-DOFs). This paper proposes a new NPS that uses PEAs and CPMs with multiple sp...
In this paper, a spatial cable-driven parallel mechanism in a V-shaped cable arrangement is proposed. It is further simplified as a planar hybrid cable-driven parallel mechanism to analyze its kinematics, which consists of two identical active cable...
This paper presents an innovative application of a 6-DOF robot in the field of rehabilitation training. This robot operates in a parallel fashion for lower limb movement, which adopts a new structure that can help patients to carry out a variety of r...
There are few examples of mechanical coupling solutions for the transmission of high torques between two rotating shafts that have non-coplanar, non-parallel axes. Based on the structural analysis, the paper proposes a solution for an RP1PR-type symm...
The limb-driving force mutation of the modular combination parallel manipulator (MCPM) affects the alignment process of optical axis. In this paper, a novel optimization method based on the force mutation penalty term is proposed to solve the problem...
This article presents the concept of a robotic system for aliquoting of biomaterial, consisting of a serial manipulator in combination with a parallel Delta-like robot. The paper describes a mathematical formulation for approximating the geometric co...
In this paper, a spatial two-degree-of-freedom (2DOF) parallel platform based on electromagnetic redundant drive and its control method are investigated. The platform is redundantly driven by three electromagnetic-spring conforming branched chains, a...
This paper presents the design of a planar parallel manipulator with a pneumatic drive. Such manipulators are used in production lines for sorting, selecting, packing, and palletizing workpieces. This paper presents simulation studies of the designed...
This paper presents the development of a 6-DOF (Degrees of Freedom) parallel robot for single-incision laparoscopic surgery (SILS). The concept of the robotic system is developed with respect to a medical protocol designed by the medical experts in t...
This paper reports an application of the Lie algebra
To address suboptimal throughput performance in conventional intelligent apple harvesting systems predominantly employing single manipulators, a dual-arm harvesting robot prototype was engineered. Leveraging the AUBO-i5 manipulator framework and kine...
A Bianchi type-III cosmological model with self-similarity symmetry is investigated in cases with perfect fluid distribution and a cosmic string cloud. We show that this model admits a non-trivial homothetic vector field which possess non-null homoth...
In order to improve the control precision and robustness of the existing proportion integration differentiation (PID) controller of a 3-Revolute–Revolute–Revolute (3-RRR) parallel robot, a variable PID parameter controller optimized by a genetic algo...
This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into...
This study presents a comprehensive geometric modeling and error propagation analysis for a 3-degrees-of-freedom spindle head, focusing on an over-constrained parallel mechanism. Four geometric error models are established for the over-constrained sp...
Underwater manipulators are important robotic tools in the exploration of the ocean environment. Up to now, most existing underwater manipulators are rigid and with fixed 5 or 7 degrees of freedom (DOF), which may not be very suitable for some compli...
The paper presents novel models of reconfigurable parallel mechanisms (RPMs) with a single active degree-of-freedom (1-DOF). The mechanisms contain three to six identical kinematic chains, which provide three (for the tripod) to zero (for the hexapod...
Reduced workspace is the main parallel robot disadvantage. It is generally due to the robot configuration, mainly the platform orientation constraint, the present work intends to find the maximum sphere within the orientation workspace, i.e., the sin...
Locating all roots of nonlinear equation of systems (NESs) in a single computational procedure remains a fundamental challenge in computational mathematics. The Dynamic Neighborhood Particle Swarm Optimization algorithm based on Euclidean Distance (E...
Traditional propulsion systems for autonomous underwater vehicles (AUVs) have several deficiencies, such as the invasion of the aquatic environment through the generation of noise and damage to the ecosystem, higher energy consumption, and a unidirec...
Parallel robots present outstanding advantages compared with their serial counterparts; they have both a higher force-to-weight ratio and better stiffness. However, the existence of closed-chain mechanism yields difficulties in designing control syst...
This research addresses the enhancement of operational efficiency in apple-picking robots through the design of a bimanual spatial configuration enabling obstacle avoidance in contemporary orchard environments. A parallel coordinated harvesting parad...
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