A foot path planning algorithm is presented for a robot with six limbs symmetrically located on the faces of its hexagonal body, enabling it to walk at a constant height with an alternating tripod gait. The symmetry results in near omni-directional locomotion capability, so the algorithm is formulated for walking in any direction and at any height. The approach is to determine the maximum lengt...

Trajectory planning for a redundant manipulator is classic problem. However, because it difficult to precisely evaluate its maximum performance, an optimization method has been typically used. In this study, novel time-optimal trajectory proposed using the model predictive control (MPC) augmented by performance evaluation (MPE). First, formulation expressed of distributed-actuation-mechanism-ba...

This paper presents a new technique for assessing the influence that clearance of spatial joints has on the kinematics and dynamics of multi-body systems. The technique is developed for the revolute joint in which the basic elements are the journal and bearing. Under certain working conditions, these two mechanical elements collide with each other being the contact treated as coupled forces. Th...

A class of three-legged modular reconfigurable parallel robots is designed and constructed for precision assembly and light machining tasks by using standard active and passive joint modules in conjunction with custom designed links and mobile platforms. Since kinematic errors, especially the assembly errors, are likely to be introduced, kinematic calibration becomes particularly important to e...

This paper examines joint coupling in underactuated robotic grippers for unstructured environments where object properties and location may not be well known. A simplified grasper consisting of a pair of two-link planar fingers with compliant revolute joints was simulated as it grasped a target object. The joint coupling configuration of the gripper was varied in order to maximize successful gr...

The suspension basically comprises of a linkage which is a 3D mechanism SRRS (Spherical, Revolute, Revolute, Spherical). On the basis of six included angles of this four bar chain, position of kingpin axis is determined. Once the position of kingpin axis is decided corresponding steering parameters can be determined. In such complex phenomenon involving non-linear kinematics where validation of...

In this work, the direct position kinematics of a 3 degree-of-freedom parallel manipulator with three identical limbs, type revolute-prismatic-spherical (RPS), is analyzed. In contrast to the previous studies on this class of manipulators, the revolute joints of the proposed manipulator are actuated rather than the prismatic joints. Direct position kinematics of the manipulator leads to a syste...

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

In this paper, kinematic and workspace analysis of 3-DoF planar Parallel Kinematic Machine (PKM) is carried out. The mechanism consists of three legs in which two legs have Prismatic-RevolutePrismatic joints and other leg has Prismatic-Prismatic-Revolute joints, it termed as 2-PRP and 1-PPR planar parallel kinematic machine. By these joints, the mechanism can achieve two translational motions a...