The Thompson River valley is one of the most important transportation corridors in western Canada as it hosts two important railways. This valley has experienced several historical landslide events, many of them along a 10 km section south of the tow...
This study investigates the kinematic behavior of a reconfigurable Delta parallel robot aiming to enhance its performance in real industrial applications such as high-speed packaging, precision pick-and-place operations, automated inspection, and lig...
This study has designed an easy-to-wear parallel continuum robot-based hand rehabilitation system that supports and enhances the finger’s flexion, extension, abduction, and adduction movements. The primary novelty of the proposed system lies in...
Traditional mobile robots with fixed structures lack the ability to cope with complex terrains and tasks. Reconfigurable modular mobile robots have received considerable attention as they can automatically reassemble according to the changing environ...
In this paper, we study energy harvesting from the mouse click motions of a robot finger and a human index finger using a piezoelectric material. The feasibility of energy harvesting from mouse click motions is experimentally and theoretically assessed...
This paper presents a new design solution for a neurosurgery-assisting device (NeurADe) based on a 3-RPS parallel kinematic mechanism. The NeurADe design employs compact linear actuators to accurately insert a cannula into specific areas of the brain...
To address issues such as attitude instability, insufficient adaptability, and poor operational quality of precision operation equipment caused by complex terrain conditions in hilly orchards, this study designed an electric carrier Self-Leveling Pla...
This paper focuses on a new type of configuration design of a compliant parallel mechanism (CPM) planar continuum structure and its characteristic analysis of vibration-inherent frequency for planar motion, which can suppress the impact of random vib...
The paper presents a complete geometric analysis of a novel parallel medical robotic system designed for minimally invasive treatment of hepatic tumors using brachytherapy, ablation or targeted chemotherapy. An algebraic method based on the study par...
Due to the fixed size of the structure or the possibility of only simple manual adjustment, the traditional toilet wheelchair cannot easily be adapted to the size of the user or the toilet. In this paper, a planar two-degree-of-freedom parallel mecha...
The automatic charging of electric vehicles is an important but challenging problem. Recently, various charging robots are proposed for electric vehicles. Most previous researches do not pay enough attention to the robots’ load capacities. Actu...
To address the limited design flexibility in meshing equations, complex modeling processes, and a lack of systematic research on bidirectional transmission in traditional parallel-axis line gears, this paper proposes a rapid design method for bidirec...
This paper presents the design of a new flexure-based xy micropositioning stage with a large hollow platform, which is suitable for practical use with a microscope. The designed mechanism has a parallel-kinematic structure and is actuated by two voic...
The harvest techniques and the employed machines are important factors in reducing soil loss due to root crop harvesting. Furthermore, the deviation of the working organs of the self-propelled sugar root harvesting machines from the axis of the row a...
The housing of gestating sows in groups requires sound information about the adapted design of the pen floor. Slatted concrete floors are commonly used for effective drainage of manure but can cause feet injuries and lameness. In the present study, k...
For a 2UPR-RPU over-constrained parallel manipulator, some geometric errors result in internal forces and deformations, which limit the improvement of the pose accuracy of the moving platform and shorten the service life of the manipulator. Analysis...
Robotic controllers have to execute various complex independent tasks repeatedly. Massive processing power is required by the motion controllers to compute the solution of these computationally intensive algorithms. General-purpose graphics processin...
In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuat...
This two-case proof-of-concept study evaluated the feasibility and clinical utility of a smartphone-based markerless motion capture system for quantitative gait assessment in pediatric Guillain–Barré syndrome (GBS). Two children with GBS...
This paper proposes a kinematic modeling method for robotic manipulators by extracting the modified Denavit–Hartenberg (MDH) parameters using line geometry. For single-branched manipulators, various joint axes can be represented as lines using...
In this article, a soft robot arm that has the ability to twist in two directions is designed. This continuum arm is inspired by the twisting movements of the human upper limb. In this novel continuum arm, two contractor pneumatic muscle actuators (P...
The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable syst...
This paper presents a comprehensive study on autonomous vehicle parking challenges, focusing on kinematic and reverse parking models. The research develops models for various scenarios, including turning, reverse, vertical, and parallel parking while...
Biomechanical models of the knee joint allow the development of accurate procedures as well as novel devices to restore the joint natural motion. They are also used within musculoskeletal models to perform clinical gait analysis on patients. Among re...
Incorporation of parallel mechanisms inside propulsion systems in biomimetic autonomous underwater vehicles (BAUVs) is a novel approach for motion generation. The vehicle to which the studied propulsion system is implemented presents thunniform locom...
Cable-driven parallel robots offer significant advantages in terms of workspace dimensions and payload capability. Their mechanical structure and transmission system consist of light and extendable cables that can withstand high tensile loads. Cables...
It is necessary to upgrade and transform the sorting equipment in the industrial production line. In order to improve production efficiency and reduce labor intensity, a high-speed lightweight parallel mechanism control system for the high-speed sort...
This paper presents a mathematical modeling approach utilizing a fuzzy modeling framework for fixed-wing aircraft systems with the goal of creating a highly desirable mathematical representation for model-based control design applications. The starti...
Automatic parking in constrained environments, such as dead-end roads and narrow parallel spaces, remains a challenge due to the low success rate and poor real-time performance of conventional planning algorithms. The paper proposes an entry-point gu...
In this paper, we analyze stiffness and perform geometrical optimization of a parallel–serial manipulator with five degrees of freedom (5-DOF). The manipulator includes a 3-DOF redundantly actuated planar parallel mechanism, whose stiffness det...
This study investigates the 3RPUR (3-Revolute–Prismatic–Universal–Revolute) variable parallel mechanism, employing screw theory and linear geometry to analyze the geometric relationships and constraint characteristics of the RPUR (R...
A fixed-time global sliding mode control with prescribed performance is proposed for the varying center of mass parallel robot mobile platform with model uncertainties and external disturbances to improve the global robustness and convergence perform...
Traditional control strategies for Cable-Driven Parallel Robots (CDPRs) rely heavily on global kinematic modeling and precise calibration, severely limiting their adaptability in unstructured or dynamic environments. This study addresses the challeng...
This work presents and experimentally characterizes a real-time, explainable Eye-to-Hand visual-feedback architecture for trajectory control of a planar 2RRR parallel manipulator. A fine-tuned YOLOv8n detector locates an end-effector marker, calibrat...
This paper presents an analysis of the geometric errors of joint assembly that affect the end-effector for a six-axis industrial robot. The errors were composed of 30 parameters that come from the Geometric Dimensioning and Tolerancing (GD&T) des...
Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies....
The dynamic characteristics of a vehicle are significantly influenced by the suspension mechanism. In this paper, the nonlinear kinestatic relations of a planar suspension mechanism are taken into account in the dynamic analysis of a vehicle. A plana...
Conventional ship mooring in ports has many shortcomings such as a high safety risk, low efficiency and high labor intensity. In order to explore and develop the theory and key technologies of intelligent automatic mooring systems, this paper takes a...
Parameter estimation plays an important role in improving the accuracy, control, and diagnostic performance of mechanisms, particularly in parallel mechanisms such as the Stewart platform, which are increasingly used in high-precision automation, adv...
In this study, a PID gain tuning approach using Deep Deterministic Policy Gradient (DDPG), a reinforcement learning (RL) algorithm, is proposed for trajectory tracking of delta parallel robots. Owing to their 3-degree-of-freedom (3-DOF) parallel kine...
Due to the various application scenarios of micro-positioning platforms, designing the structure of a micro-positioning platform that accommodates performance specifications for specific real-world applications presents significant challenges. Piezoe...
To diagnose mobility impairments and select appropriate physiotherapy, gait assessment studies are often recommended. These studies are usually conducted in confined clinical settings, which may feel foreign to a subject and affect their motivation,...
To meet the various need of stroke patients’ rehabilitation training and carry out complex task training in real scenes, the structure of a lower limb rehabilitation robot with movements in the sagittal plane and coronal plane is usually compli...
This paper proposes an approach to derive the Jacobian matrix of a hybrid mechanism by applying a velocity operator to the transformation matrix. This Jacobian matrix is capable of deducing hybrid singularities, which cannot be identified by using th...
Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine i...
To address the problems of mismatch, poor flexibility and low accuracy of ordinary manipulators in the complex special deflagration work process, this paper proposes a new five-degree-of-freedom (5-DOF) folding deflagration manipulator. Firstly, the...
The growing interest and use of indoor mapping is driving a demand for improved data-acquisition facility, efficiency and productivity in the era of the Building Information Model (BIM). The conventional static laser scanning method suffers from some...
The investigation of gait and its neuronal correlates under more ecologically valid conditions as well as real-time feedback visualization is becoming increasingly important in neuro-motor rehabilitation research. The Gait Real-time Analysis Interact...
Robotic manipulators are critical for industrial automation, boosting productivity, quality, and safety in various production applications. Key factors like the payload, speed, accuracy, and reach define robot performance. Optimizing these factors is...
This study presents the design and a thorough analysis of a six-bar crank-driven leg mechanism integrated with a skew pantograph, developed for walking robots. The mechanism’s dimensions were optimized using a rigorous dimensional synthesis pro...
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