This paper presents the design and modeling of a new 6-DOF 8-PSS/SPS compliant dual redundant parallel robot with wide-range flexure hinges. This robot can achieve either high accurate positioning or rough positioning as well as a 6-DOF active vibration isolation and excitation to the payload placed on the moving platform. Adopting a kind of wide-range flexure hinge, we establish the kinematics...

inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. This feature involves (i) a simultaneous ...

This paper presents the design of our new 33 degree of freedom full size humanoid robot, SAFFiR (Shipboard Autonomous Fire Fighting Robot). The goal of this research project is to realize a high performance mixed force and position controlled robot with parallel actuation. The robot has two 6 DOF legs and arms, a waist, neck, and 3 DOF hands/fingers. The design is characterized by a central lig...

A new robust nonlinear controller is presented and applied to a planar 2-DOF parallel manipulator with redundant actuation. The robust nonlinear controller is designed by combining the nonlinear PD (NPD) control with the robust dynamics compensation. The NPD control is used to eliminate the trajectory disturbances, unmodeled dynamics and nonlinear friction, and the robust control is used to res...

In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, a...

The control of a dynamic system with multiple degreesof-freedom (DOF) is far simpler if the system is uncoupled. The property of an uncoupled system can be achieved with careful design of mechanical structures in the case of conventional mechanisms. The study reported in this paper will show via experiment the uncoupling property in a compliant mechanism, which is driven by three PZT actuators....

This paper proposes a novel chattering free neuro‐sliding mode controller for the trajectory tracking control of two degrees of freedom (DOF) parallel manipulators which have a complicated dynamic model, including modelling uncertainties, frictional uncertainties and external disturbances. A feedforward neural network (NN) is combined with an error estimator to...