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...
Kinematic modelling is essential for evaluating hybrid manipulators that require both stiffness and spatial adaptability. This paper proposes a modular 3-UPU (universal joint–prismatic joint–universal joint) hybrid serial–parallel m...
Serial-parallel hybrid manipulators featuring remote actuation via parallelogram mechanisms are highly valued for their low inertia and high stiffness. However, the complex nonlinear errors introduced by their multi-stage transmission chains pose sig...
This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of the manipulator combines a tripod-like parallel part and a serial part, represented as two carriages...
Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial mechanisms, such as increased stiffness, high...
For mobile manipulators, tipping-over is one of the most important problems when operating on uneven terrain or manipulating heavy objects. The estimation and evaluation of dynamic stability with an easy-computed measure helps to generate actions to...
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...
In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established seria...
The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and...
Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators. An important question, with high pra...
In this paper, the real-time joint stiffness configuration strategy of a series parallel hybrid 7-DOF (degree of freedom) humanoid manipulator with flexible joints in continuous motion is studied. Firstly, considering the potential human robot accide...
In this paper, the environmental uncertainties are taken into account when designing a robotic manipulator to balance the shaking force, shaking moment, and torque. The proposed robust balancing design approach does not consider the probability distr...
Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, the identification of singular configurations is extremely important. However, serial manipulators tha...
This paper reports an application of the Lie algebra
Underwater Vehicle-Manipulator Systems (UVMSs) play a critical role in various marine operations, where the choice of manipulator architecture significantly influences system performance. While serial robotic arms have been widely adopted in UVMS app...
To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. Th...
This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local pro...
In this work, an innovative Schönflies motion generator manipulator is introduced, featuring a parallel architecture composed of serial chains with mixed degrees of freedom. Fundamental kinematic aspects essential to any manipulator such as disp...
The forward kinematics in parallel manipulators is a mathematically challenging issue, unlike serial manipulators. Kinematic constraint equations are non-linear transcendental equations that can be reduced to algebraic equations with appropriate tran...
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...
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...
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...
Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom (“3T2R”). While kinematic models for specific mechanisms for t...
This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R...
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...
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...
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...
One of the problems in the development of multi-robotic systems is the safe navigation of a group of robots. To solve it, the restrictions imposed by the structural elements of its agents are determined. The article presents a multi-robotic system co...
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...
The paper considers the problem of interaction between robots with parallel and serial structures that are part of a robotic system for aliquoting biomaterials. An approach to selecting the relative position and limiting the ranges of movement of man...
This paper presents a detailed design of a skid-steering mobile platform with four wheels, along with a Cartesian serial (PPP) manipulator. The aim of this design is to enable the platform to perform various tasks in the agricultural process. The par...
In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive an...
The parallel driving soft manipulator with multiple extensors and contractile pneumatic artificial muscles (PAMs) is able to operate continuously and has varying stiffness, achieving smooth movements and a fundamental trade-off between flexibility an...
Optical systems for unmanned aerial vehicle (UAV) detection and tracking are predominantly deployed on stationary platforms, which limits operational mobility and increases the vulnerability of fixed installations under adverse operating conditions....
This work was devoted to the optimization of the trajectory of a robotic system for aliquoting biosamples, consisting of serial and parallel manipulators. The optimization consisted of two stages. At the first stage, we considered the optimization co...
With the development of nanotechnology that contains automatic control, precision machinery and precise measurement, etc., micro/nano manipulation has become a new research direction in recent years. This paper presents the design and analysis proced...
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...
Robot-assisted rehabilitation has demonstrated significant efficacy in improving motor function among patients with physical and neurological impairments. The development of effective rehabilitation robots requires careful integration of mechanical d...
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 main objective of this paper is to discuss the experimental validation of a tele-operation system for remote center-of-motion tasks, such as laparoscopic surgery. This validation is based on the use of an extra sensor placed on the master manipul...
Efficient simplification of 3D models is essential for mobile and other resource-constrained application scenarios. Industrial 3D assemblies, typically composed of numerous components and dense triangular meshes, often pose significant challenges in...
The structure of the cable-driven serial manipulator (CDSM) is more complex than that of the cable-driven parallel manipulator (CDPM), resulting in higher model complexity and stronger structural and parametric uncertainties. These drawbacks challeng...
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 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...
The use of multi-joint arms in a high-spindle environment can solve complex problems, but the singularity problem of the manipulator related to the structure of the serial manipulator is prominent. Therefore, based on the general mathematical model o...
Robotic arms and motion planning are key technologies that enable fruit and vegetable harvesting robots to operate autonomously while improving harvesting efficiency and operational safety. This paper reviews and analyzes the suitability of robotic a...
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...
The manufacturing of large-scale structural components is still dominated by manual labor in many sectors of the modern composite industry. Efforts are being made to establish an automated layup technology for complex structural elements. Processing...
In flexible manufacturing systems, the composite mobile manipulator (CMM) is subject to nonlinear inertial disturbances arising from the dynamic coupling between the mobile platform and the robotic arm. These disturbances significantly impair positio...