Ship cleaning is mainly done manually, which high operation risk and low work efficiency. For that, it proposed to apply the cable-driven parallel robot field of ship cleaning. The related research traditional focused on fixed base, largely ignores influence base motion its performance. Considering caused by wave excitation modeling accuracy, dynamic model system established Newton-Euler method...

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...

This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...

This paper presents a master-slave system applied to the remote diagnosis from echographic data. The motion of the master manipulator is remotely controlled by a physician and reproduced by a slave robot carrying the echographic probe. The contact force between the probe and the patient is fed back to operator allowing him to have a haptic virtual environment. The innovation of this haptic cont...

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant trussbased manipulators (TBMs), The Virtual Serial Manipulator Approach. The approach is to model complex in-parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematically-redundant serial manipulators c...

This paper presents the concept of a planar positioning stage based on a kinematically redundant parallel linkage. Basic kinematics and workspace analysis of base redundant manipulator is initially explained and the procedure of static analysis to predict the actuated joint torques is described. As there are six actuators in the linkage, the redundancy can be overcome by proper selection of the...

Purpose This paper aims to present an iterative path-following method with joint limits solve the problem of large computation cost, movement exceeding and poor accuracy for path planning hyper-redundant snake-like manipulator. Design/methodology/approach When a desired is given, new configuration manipulator obtained through geometrical approach, then joints are repositioned iterations until a...

The paper deals with the conceptual design of cable-driven parallel robot which will be used for inspection and monitoring tasks in production process. reason need vision based control process is described introduction. Furthermore, mechanisms kinematic structure are described, as well their usage industry sports broadcasts. On that basis, there proposed cable driven (CDPR) desired task visual ...