The Position and orientation accuracy of robot manipulator has long become a major issue to be considered in its advanced application. The simplified expressions for the differential vector of the end-effector have been proposed based on the original expressions derived by Veitschegger and Wu in 1986. According to this new expression, a linear error model that described the end-effector positio...

The article is devoted to the peculiarities of development robotics market in Russia and world. authors note that use robots various fields activity ensures accuracy, productivity, flexibility, rationality workspace, economy, etc. These advantages explain rapid today. emphasize has every chance take a leading position promising high-tech markets. Stimulating domestic demand for developments, ac...

Abstract In this paper, a 5-DOF manipulator is designed to carry the pipeline robot. The joint coordinate system and connecting rod parameters of are confirmed by D-H method, kinematics model established. position direction end deduced using homogeneous transformation method. Monte Carlo method used solve workspace manipulator, MATLAB draw cloud map. Set motion trajectory space planning, throug...

Let P be a planar n-point set in general position. For k ∈ {1, . . . , n − 1}, the Voronoi diagram of order k is obtained by subdividing the plane into regions such that points in the same cell have the same set of nearest k neighbors in P . The (nearest point) Voronoi diagram (NVD) and the farthest point Voronoi diagram (FVD) are the particular cases of k = 1 and k = n − 1, respectively. It is...

The science of rehabilitation showed, in most cases, that repeated movements of human members can to help the patient regain the functions of the member injury. Robots for these tasks can be more efficient in performing these exercises than humans. Robotic systems for rehabilitation can be generally used to record information like position, trajectory, force and velocity exploiting the motor pe...

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...

A hybrid type manipulation system is a combination of closed-chain and open-chain mechanisms or it is a sequence of parallel mechanisms. Parallel manipulators have high stiffness and large load capacity, but suffer from a very limited workspace volume. The hybrid manipulators overcome the limited workspace of the parallel manipulators and at the same time they have high stiffness. The determina...

This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuatio...

In this paper, the kinematic workspace characteristics of a crab-like legged vehicle are investigated using a 2-D model. The alternative kinematic configurations and their corresponding workspace constraints are discussed, and the vehicle configuration of most interest identified. It is shown that, for constant vehicle body attitude, only two parameters affect the kinematic workspace, foot over...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...