Rather severe parametric uncertainties and uncertain nonlinearities exist in the dynamic modeling of a parallel manipulator driven by pneumatic muscles. Those uncertainties not only come from the timevarying friction forces and the static force modeling errors of pneumatic muscles but also from the inherent complex nonlinearities and unknown disturbances of the parallel manipulator. In this pap...

A free-floating space redundant robotic manipulator dynamics model is established and the dynamics equation is derived, the delayed feedback control time and the self-adaptive gain coefficient are obtained by substituting into delayed feedback control equations. Then simulated dynamics control chaotic motion of the space redundant robotic manipulator, the simulation results show that the chaoti...

This paper presents an approach on stability analysis of cable-driven parallel robots (CDPRs) considering cable mass based tensions and stiffness matrix condition numbers. A model is introduced the effect mass. established model. Then, numbers are presented. Furthermore, CDPRs discussed. Numerical simulations show that better in center at top whole workspace than other places, which agrees well...

A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...

The paper proposes a construction method of bilateral system using redundant manipulator. In bilateral system, it is important that operation can be realized in narrow space and at remote plate. Then the master-slave robots with redundancy are convenient and needed to achieve the bilateral motion effectively. However, human operation will become difficult because of the multifunctional mechanis...

A cable-driven parallel robot (CDPR) was developed for the installation of curtain wall modules (CWM). The research addressed question whether CDPR capable installing CWMs with sufficient accuracy while being competitive compared to conventional manual methods. In order develop and test such a system, conceptual framework that consisted three sub-systems defined. tests, carried out in two close...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...