The calibration of suspension geometry involves highly nonlinear kinematic relationships and leads to challenging optimization landscapes that are difficult to explore efficiently with classical local methods. Quadratic Unconstrained Binary Optimizat...
A dimensional synthesis of parallel manipulators (PMs) consists of determining the values of the geometric parameters that affect the platform motion so that a useful workspace with assigned sizes can be suitably located in a free-from-singularity re...
Error averaging effect is one of the advantages of a parallel mechanism when individual errors are relatively large. However, further investigation is necessary to clarify the evidence with mathematical analysis and experiment. In the developed paral...
Nowadays, artificial intelligence is used everywhere in the world and is becoming a key factor for innovation and progress in many areas of human life. From medicine to industry to consumer electronics, its influence is ever-expanding and permeates a...
This paper presents the development and analysis of a novel 6-DOF Cartesian parallel mechanism intended for use as a haptic device for initial sonography training. The system integrates a manipulator designed for delivering force feedback in five deg...
Compared to purely serial robots or cable-driven parallel robots (CDPRs), cable-driven hybrid robots (CDHRs) combine the advantages of both, addressing their limitations and enabling the execution of complex tasks. The series-parallel coupling struct...
The inverse kinematics of robot manipulators is a crucial problem with respect to automatically controlling robots. In this work, a Newton-improved cyclic coordinate descent (NICCD) method is proposed, which is suitable for robots with revolute or pr...
Flexible manipulator robots have a wide industrial application. Robot performance requires sensing its position and orientation adequately, known as forward kinematics. Commercially available, motion controllers use high-resolution optical encoders t...
Robotic surgery has been steadily growing, with many new platforms entering the field. Research platforms, however, are limited in number, require a sizable capital expenditure or are difficult to access. This paper presents the analysis and developm...
This paper presents a new solution for an exoskeleton robotic system that is used for locomotor assistance in people with locomotor disabilities. As novel features of the present research, a novel structural solution of a plane-parallel kinematic cha...
In this paper, we propose a novel kinematic and inverse dynamic model for the flybar-less (FBL) swashplate mechanism of a small-scale unmanned helicopter. The swashplate mechanism is an essential configuration of helicopter flight control systems. It...
When designing rehabilitation robots, there remains the challenge of ensuring the comfort and safety of users, especially for wearable rehabilitation robots that interact with human limbs. In this paper, we present a kineto-static analysis of the 3-R...
This paper presents a theory for the analytical determination of internal forces in the links of planar linkage mechanisms and manipulators with statically determinate structures, considering the distributed dynamic loads. Linkage mechanisms and mani...
This study introduces a novel methodology integrating computer vision, visual servo control, and the Kalman Filter to precisely estimate object locations for a 3-RRR planar type parallel manipulator. Through kinematic analysis and the development of...
Trauma, amyotrophic lateral sclerosis (ALS), and head and neck cancer (HNC), which cause neck pain, are only some of the possible issues requiring suitable therapy for alleviating or even healing the neck dysfunctions they cause. Static and dynamic n...
Parallel robots, including cable-driven parallel robots (CDPRs), are widely used due to their high stiffness, precision, and high dynamic performance. However, their multi-chain closed-loop architecture brings nonlinear, multi-degree-of-freedom coupl...
Various 3-UPU architectures feature two rigid bodies connected to one another through three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first proposed in the last decade of the 20th century and have ani...
This work presents a comprehensive performance evaluation and optimum design of a novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and the letter with underline represents an active joint) redundant planar paral...
The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned to combining both mechanisms, sharing the advantage from serial to paral...
Fused deposition modeling (FDM) 3D printers commonly need support material to print overhangs. A previously developed 4-axis printing process based on an orthogonal kinematic, an additional rotational axis around the z-axis and a 45° tilted nozzle ca...
This work explores dual quaternions and their applications. First, a theoretical construction begins at dual numbers, extends to dual vectors, and culminates in dual quaternions. The physical foundations behind the developed theory lie in two importa...
The accurate positioning of the prosthetic components is essential for achieving successful results in medial unicompartmental knee arthroplasty (mUKA). The tibial component rotation in image-based robotic-assisted UKA is usually based on tibial bony...
The emergence of surgical robots has revolutionized complex operations, improving precision, lowering operating risks, and shortening recovery periods. Given the merits, an eight degrees of freedom (DOF) hybrid surgical robot (HSR) has been proposed,...
The aim of manifold learning is to extract low-dimensional manifolds from high-dimensional data. Manifold alignment is a variant of manifold learning that uses two or more datasets that are assumed to represent different high-dimensional representati...
To improve the dynamic performance of parallel robots in multi-dimensional space, a novel trajectory planning method of space discretization for parallel robots is proposed. First, the kinematic model of the 5PUS-RPUR parallel robot is established. T...
Anticipating pedestrian crossing behavior in urban scenarios is a challenging task for autonomous vehicles. Early this year, a benchmark comprising JAAD and PIE datasets have been released. In the benchmark, several state-of-the-art methods have been...
The body structures and motion stability of worm-like and snake-like robots have garnered significant research interest. Recently, innovative serial–parallel hybrid segmented robots have emerged as a fundamental platform for a wide range of mot...
In this study, a dual-mode reconfigurable parallel ankle joint rehabilitation mechanism is proposed to meet the needs of patients in different ankle rehabilitation stages. This mechanism can switch between the 1T2R (where R represents rotation and T...
Cargo handling issues affect the ability of large heavy-duty Unmanned Aerial Vehicles (UAVs) to transport cargo and limit the development of large UAVs. Compared to conventional landing gear, hydraulically controlled landing gear can tilt the drone w...
This paper presents a comparison between two different 6R articulated robot architectures, one with a spherical wrist and the other with a non-spherical wrist and three consecutive parallel axes, which are found mainly in collaborative arms. The perf...
In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of i...
To enhance the precision, load capacity, disturbance rejection, and reliability of shipborne parallel stabilization platforms under complex sea conditions, this paper proposes a redundant, actuated, parasitic-motion-free 3-DOF 3RRS-RUS parallel stabi...
The development of direct-drive spherical motors offers a potential solution to the limitations of conventional multiple degree-of-freedom (DOF) actuators, which typically utilize single-DOF joints (rotational and/or prismatic), arranged in series or...
Multi-body separation of flight vehicles is challenged by potential collisions that critically affect dynamic stability. This study develops a numerical method for simulating coupled aerodynamics, kinematics, and collision dynamics. Building upon a c...
This review article presents an in-depth examination of research and development in the fields of rehabilitation, assistive technologies, and humanoid robots. It focuses on parallel robots designed for human body joints with three degrees of freedom,...
Robotic exoskeletons are being actively applied to support the activities of daily living (ADL) for patients with hand motion impairments. In terms of actuation, soft materials and sensors have opened new alternatives to conventional rigid body struc...
This paper deals with the reconfiguration analysis of a 3-DOF (degrees-of-freedom) parallel manipulator (PM) which belongs to the cylindrical parallel mechanisms family. The PM is composed of a base and a moving platform shaped as equilateral triangl...
This paper presents the computational design, fabrication, and control of a novel 3-degrees-of-freedom (DOF) soft parallel robot. The design is inspired by a delta robot structure. It is engineered to overcome the limitations of traditional soft seri...
Biped robots based on parallel mechanisms hold great potential for applications in complex terrains. Based on a 4-UPU parallel mechanism, this paper proposes a novel biped robot that achieves alternating bipedal locomotion and turning with only six a...
Cable-driven parallel robots (CDPRs) have several advantages and have been widely used in many industrial fields, especially industrial applications that require high dynamics, high payload capacity, and a large workspace. In this study, a design mod...
This paper proposes a hybrid position–force control strategy for overconstrained cable-driven parallel robots (CDPRs). Overconstrained CDPRs have more cables (m) than degrees of freedom (n), and the idea of the proposed controller is to control...
The paper presents a general approach to the steady-state efficiency analysis of one degree of freedom (1-DOF) speed increasers with one or two inputs, and one or two outputs, applicable to wind, hydro and marine-current power generating systems. The...
This paper presents a synchronous proportional derivative (PD) control method using a time delay estimator (SPD-TDE) for a four-degree-of-freedom (DOF) parallel robot in practice. The proposed control is a method that is developed from a synchronous...
Taking a spatial parallel robot with flexible joints and links as the research object, a dynamic modeling method for a multi-flexible-body robot system is proposed. Its effectiveness is verified by comparing the numerical model with a simulation mode...
Considering that the Line-Of-Sight (LOS) of a small optical payload is mainly connected with the angular motions while insensitive to linear motion, a novel pointing and stabilizing manipulator was proposed for small payloads on a large spacecraft. B...
Product oil tankers are essential transportation equipment for petroleum transfer. Due to petroleum products’ intense penetration and solubility, the quality requirements for coating product oil tankers are high, and regular maintenance is need...
This paper introduces a Hexa parallel robot and obstacle collision detection method based on dynamic modeling and a computer vision system. The processes to deal with the collision issues refer to collision detection, collision isolation, and collisi...
High-speed pick-and-place industrial applications often use parallel kinematic robots due to their high stiffness and dynamic performance; furthermore, the latter not only depends on the mechanical characteristics of the robots but also on the contro...
This research paper outlines the development of a modular and adjustable transfer care robot aimed at enhancing safe and comfortable transfers for individuals with lower limb disabilities. To design this robot, we utilized a 3D motion capture system...
Geometric errors in CNC machine tools accumulate along the tool path and directly affect machining accuracy. Traditional serial-chain-based volumetric error models, such as those based on the homogeneous transformation matrix (HTM) or screw theory, o...
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