Recently, significant advances have been made in ROBOTICS, ARTIFICIAL INTELLIGENCE and other COGNITIVE related fields, allowing tomakemuch sophisticated biomimetic robotics systems. In addition, enormous number of robots have been designed and assembled, explicitly realize biological oriented behaviors. Towards much skill behaviors and adequate grasping abilities (i.e. ARTICULATION and DEXTEROU...

This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is use...

We consider in this paper a Gough-type parallel robot whose leg length values are constrained to lie within some fixed ranges and for which there may be mechanical limits for the motion of the passive joints. The purpose of this paper is to present algorithms to determine: • the constant orientation workspace: all the possible locations of the center of the platform that can be reached with a f...

In this paper, a new design method considering a desired workspace and swing range of spherical joints of a DELTA robot is presented. The design is based on a new concept, which is the maximum inscribed workspace proposed in this paper. Firstly, the geometric description of the workspace for a DELTA robot is discussed, especially, the concept of the maximum inscribed workspace for the robot is ...

This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The mani...

This paper studies the workspace of a six-degrees-of-freedom parallel manipulator of the general three-PPSR (prismaticprismatic-spheric-revolute) type. It is known that a drawback of parallel manipulators is their limited workspace. To develop parallel mechanisms with a larger workspace is of use to potential applications. The mechanism of a three-PPSR manipulator and its variations are briefly...

We consider in this paper a Gough-type parallel robot whose leg lengths values are constrained to lie within some fixed ranges and for which there may be mechanical limits for the motion of the passive joints. The purpose of this paper is to present algorithms to determine: • the constant orientation workspace: all the possible locations of the center of the platform which can be reached with a...

The problem of dexterous manipulation of objects, i.e. of arbitrary relocation and reorientation of rigid bodies by action of some mechanism, is considered. We build upon previous results on the possibility of implementing dexterous “robot hands” with few actuators, which can be afforded through the exploitation of nonholonomic rolling of regular surfaces. In this paper we focus on the manipula...

The Cooperative Manipulation Testbed (CMT) in the Dexterous Robotics Laboratory at the NASA Johnson Space Center (JSC) is a facility for developing and testing control systems for space robotics and a general robotics testbed for system development. The CMT consists of three seven degree-of-freedom commercial manipulators with flexible tooling arranged in a configuration inspired by other dexte...

This paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. The degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. Several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...