Abstract This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred as X-joints. Each X-joint tensegrity one-degree-of-freedom mechanism antagonistically actuated cables springs parallel. As compared manipulators built simple revolute offer number advantages, such an intrinsic stability, variable stiffness, lower inertia. de...

In this paper, we examine a point-to-point motion task of flexible manipulator with macro fiber composite (MFC) and then propose new feedforward control method to suppress driving energy residual vibration simultaneously. For this, use an MFC attached one side the that has revolute joint as actuator. We attempt express angle in technique by combining cycloidal polynomial functions. On other han...

Compliant Mechanisms (CMs) have been a hot research spot in recent years due to their distinguished mechanism concept from conventional rigid-body mechanisms: CMs can transfer motion, force, and energy only through the deflection of flexible components. Therefore, accurate efficient kinetostatic modeling for these elementary components plays rather important role regarding conducting synthesis ...

Rimless wheel robots are ground whose wheels have no rims or tires but only spokes. This paper considers torso-actuated robots. Each robot considered in this is composed of a single and torso connected to the centre by an actuated revolute joint. There been proposed several controllers for rimless robots; however, their locomotion properties poorly understood. For example, similarities differen...

This study investigated the energetics of the human ankle during the stance phase of downhill walking with the goal of modeling ankle behavior with a passive spring and damper mechanism. Kinematic and kinetic data were collected on eight male participants while walking down a ramp with inclination varying from 0° to 8°. The ankle joint moment in the sagittal plane was calculated using inverse d...

A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lockable P (pr...

The direct position analysis (DPA) of a manipulator is the computation of the end-effector poses (positions and orientations) compatible with assigned values of the actuated-joint variables. Assigning the actuated-joint variables corresponds to considering the actuated joints locked, which makes the manipulator a structure. The solutions of the DPA of a manipulator one-to-one correspond to the ...

AlmU'net--This paper considers the computation of all solutions to the inverse position problem for general six-revolute-joint manipulators. Instead of reducing the problem to one highly complicated input-output equation, we work with a system of I I very simple polynomial equations. Although the total degree of the system is large (1024), using the "method of the generic case" we show numerica...

We describe a new Compliant Articulated Robot Leg, CARL, which we constructed as a prototype for an autonomous robot quadruped. The leg has been designed for dynamic walking, trotting and bounding gaits, with an expected top speed of 3m=s. It is an articulated 4 degree of freedom design with revolute joints as opposed to prismatic joints for improved mobility, simplicity and low friction. It em...

This paper shows how the recently developed formulation of conformal geometric algebra can be used for analytic inverse kinematics of two six-link industrial manipulators with revolute joints. The paper demonstrates that the solution of the inverse kinematics in this framework relies on the intersection of geometric objects like lines, circles, planes and spheres, which provides the developer w...