In this study, the design stages of a parallel robot with 3-DOF and linear motion are presented in detail. The position control of the linear robot, which was manufactured after the design process, was achieved in real time by using the inverse kinem...
To improve the mobility of mobile robots in complex terrain environments, a novel 2-UPS&PRPU parallel mechanism is proposed, for which the parallel mechanism branched-chain decomposition and synthesis method is adopted. Based on the structural ch...
In this paper, we experimentally evaluate the performance of a sensor concept for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism by using solely the linear actuators’ orientations. At first, we review classic...
The present research addresses the single transportation robot used to alleviate problems of robotic cell scheduling of the machines. For the purpose of minimizing the make-span, a model of mixed-integer linear programming (MILP) has been suggested....
In this study, a novelty dual Takagi-Sugeno (TS) fuzzy control scheme (DTSFCS) is proposed for real world system control. We propose using a ball robot (BR) system control problem, where the BR has the ability to move omnidirectionally. The proposed...
This paper addresses a novel nonlinear algorithm for the trajectory tracking of a planar cable-driven parallel robot. In particular, we outline a nonlinear continuous-time generalized predictive control (NCGPC). The proposed controller design is base...
The construction industry faces a growing need for automation to reduce costs, improve accuracy and productivity, and address labor shortages. One area that stands to benefit significantly from automation is panelized prefabricated building envelope...
In this paper, we investigate the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions. By avoiding to measu...
This paper proposes and implements a method to efficiently parallelize constraint solving in rigid body simulation using GPUs. Rigid body simulation is widely used in robot development, computer games, movies, and other fields, and there is a growing...
This paper deals with the mechanical design and kinematic analysis of an autonomous wrist for space assembly (AWSA) whose actuators are activated by DC motors and ball screw drives. This robotic wrist was developed and built as a prototype to investi...
This study investigates model-based emergency strategies for damage prevention following cable breaks in six-degree-of-freedom cable-driven parallel robots. By relaxing real-time constraints, the empirical performance limit of existing and novel reco...
In this paper, a control approach for reconfigurable parallel robots is designed. Based on it, controls in the vision-sensor, 3D and joint spaces are designed and implemented in target tracking tasks in a novel reconfigurable delta-type parallel robo...
Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical transmissi...
Parallel robots are recognized as a promising solution for heavy-load and high-efficiency tasks in modern manufacturing systems. The terminal rigidity is a critical performance metric for parallel robots, significantly affecting their payload capacit...
Cable-driven parallel robots are a special type of robot in which an end-effector is attached to a fixed frame by means of several cables. The position and orientation of the end-effector can be controlled by controlling the length of the cables. The...
This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for dev...
Nonlinear robotic systems often operate under widely varying conditions that challenge traditional linear control approaches. The Linear Parameter-Varying (LPV) paradigm overcomes these limitations and offers a unifying framework by representing the...
Although cable driven robots are a type of parallel manipulators, the evaluation of their performances cannot be carried out using the performance indices already developed for parallel robots with rigid links. This is an obvious consequence of the p...
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...
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...
Achieving energy-efficient, human-like gait remains a major challenge in bipedal humanoid robotics, as traditional serial actuation architectures often lead to high instantaneous power peaks and uneven load distribution. This study addresses the lack...
In this work, the kinematics of a spherical parallel manipulator composed of three peripheral limbs equipped with linear actuators and a passive center shaft is approached by means of the theory of screws. The displacement analysis is carried out sol...
This paper proposes a novel Takagi-Sugeno fuzzy predictor observer to tackle the problem of the constant and known delay in the measurements. The proposed observer is developed for a trajectory-tracking problem of a wheeled mobile robot where a paral...
In our previous study, we introduced a rope-driven wheel-legged robot (RDWR) designed for climbing 3D facades. The RDWR utilizes a two-rope ascender and a wheel-legged mechanism to navigate complex surface geometries. Similar to other legged robots,...
The rapid advancement in soft robotics over the past decade has driven innovation across the industrial, medical, and agricultural sectors. Among various soft robotic designs, Fin Ray-inspired soft grippers have demonstrated remarkable adaptability a...
Pose accuracy is one of the most important problems in the application of parallel robots. In order to adhere to strict pose error bounds, a new kinematic calibration method is proposed, which includes a new pose error model with 60 error parameters...
Welding frames with differing geometries is one of the most crucial stages in the production of high-end bicycles. This paper proposes a parallel algorithm and a mixed integer linear programming formulation for scheduling a two-machine robotic weldin...
The design of robot systems controlled by cables can be relatively difficult when it is approached from the mathematical model of the mechanism, considering that its approach involves non-linearities associated with different components, such as cabl...
Robot hand is the device used for robots to interact with the environments, it has many potential applications. Traditional robot hands cannot translate their finger end along a straight line, which makes them not suitable for grasping thin objects o...
The acquisition of elemental and chemical distribution images on the surface of cultural heritage objects has provided us new insights into our past. The techniques commonly employed, such as macroscopic X-ray fluorescence imaging (MA-XRF), in genera...
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...
Origami structures are highly demanded for engineering applications. Using origami folding to design and actuate mechanisms and machines offers attractive opportunities. In this paper, we design a crawling robot driven by pneumatic foldable actuators...
In this paper, the design and experimental evaluation of a parallel robotic system based on a linear delta geometry is presented. The design considers the requirements for high-precision applications including workspace, motion resolution, and payloa...
To address the problems of cable slackness and non-smooth cable-tension variation curves during the motion of an antagonistic cable-driven parallel robot (CDPR), this paper focuses on a three-degree-of-freedom (DOF) redundantly constrained CDPR. Firs...
The continuous growth of the urban electric vehicles market and the rapid progress of the electronics industry create positive prospects towards fostering the development of autonomous robotic solutions for covering critical production sectors. Agric...
In this paper, experimental results about the performance of a Takagi–Sugeno Fuzzy Controller (TSFC) for an EV3 Ballbot Robotic System (EV3BRS) are reported. The physical configuration of the EV3BRS has the form of an inverted pendulum mounted...
This paper analyzes work activity in the home, e.g., cleaning, performed by two actors, a human and a robot. Nowadays, there are attempts to automate this activity through the use of robots. However, the activity of cleaning, in and of itself, is not...
This work reports the design, fabrication, and characterization of a centimetre-scale autonomous robot with locomotion based on in-plane piezoelectric resonators and 3D-printed inclined legs. The robot consists of a pair of cooperative piezoelectric...
This paper proposes the preliminary results on a novel control architecture based on model predictive control (MPC) for cable-driven parallel robots (CDPRs) and applies them to a three degrees of freedom (3-DOF) robot with a suspended configuration,...
The accelerating industrial demand for high-speed manipulation has necessitated the development of robotic architectures that effectively balance dynamic performance with workspace size. While serial SCARA robots offer large workspaces and parallel D...
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...
In the last decades, the Robot Selection Problem (RSP) has been widely investigated, and the importance of properly structuring the decision problem has been stated. Crucial aspect in this process is the correct identification of the robot attributes...
This paper develops a decoupled multi-loop control for a two-wheeled inverted pendulum (TWIP) robot that can assist user’s with walking. The TWIP robot is equipped with two wheels driven by electrical motors. We derive the system’s transfer function...
In the field of parallel robots, traditional rigid joints compromise motion accuracy owing to inherent friction and backlash, thus driving the demand for high-performance compliant joints. This paper proposes a parametric design method for a two-axis...
A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a...
Redundancy in cable-driven parallel robots provides additional degrees of freedom that can be used to achieve different objectives. In this robot, this degree of freedom is used to act on a reconfigurable end effector with one degree of freedom. A co...
The Stewart platform, a classical mechanism proposed as the parallel operation apparatus of robots, is widely used for vibration isolation in various fields. In this paper, a design integrating both small attitude control and vibration isolation for...
This paper proposes a new shape memory alloy (SMA)-driven compliant rotary actuator that can perform both passive and self-actuated motions. This SMA actuator is suitable as a redundant actuation part in a parallel robot joint to assist with singular...
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...
The purpose of this study is to develop a computationally efficient deep learning-based control framework for high-degree-of-freedom exoskeleton robots to address the real-time computational limitations associated with conventional model-based contro...
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