In this paper the workspace optimization of translational 3-UPU parallel platforms with prismatic and universal joint constraints is performed. The workspace is parameterized using two design parameters, which are the prismatic joint stroke and the difference between the distances of the center to one of the corners of the triangular plate of the base and of the moving platform. For a large ran...

In the last decade, several exoskeletons for shoulder rehabilitation have been presented in literature. Most of these devices focus on complex and limit normal mobility rest body, forcing patient into a fixed standing or sitting position. Nevertheless, this severely limits range activities that can potentially be simulated during rehabilitation, preventing execution occupational therapy which i...

A novel backdrivable 3-[ R ( R- RR)SR] kinematically redundant (6+3)-degree-of-freedom (DOF) spatial hybrid parallel robot with revolute actuators is proposed for low-impedance physical human–robot interaction. The kinematic model developed based on the constraint conditions of robot. It sho...

Abstract Cable-driven parallel robots (CDPRs) offer high payload capacities, large translational workspace, and dynamics performances. Their rotational workspace is generally far more limited, however, which can be resolved using cable loops, as was shown in previous research. In the case of fully constrained CDPRs, loops induce unwanted torques on moving-platform (MP), causing it to tilt move ...

 Y. Yang, MS student and author of correspondence, Phone: +86-10-8233-8273, Fax: +86-10-8233-8023, Email: [email protected].  Y. Zhang, Professor and author of correspondence, Phone: +86-10-8233-8023, Fax: +86-10-8233-8023, Email: [email protected]. ABSTRACT This paper presents a procedure to obtain a singularity-free task workspace with a new method to deal with singularities. In order to ...

Malleable robots are a type of reconfigurable serial robot capable adapting their topology, through the use variable stiffness malleable links, to desired tasks and workspaces by varying relative positioning between revolute joints. However, reconfiguration is nontrivial, lacking intuitive communication human robot, method efficiently aligning end effector position. In this article, we present ...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

The singularities of a 3R robot are usually determined, in terms of its joint angles, from the determinant of its Jacobian which can then be mapped onto the robot’s workspace through its forward kinematics. The presence of cusps in these singularity plots permits to change robot’s posture without meeting a singularity and hence their relevance. This paper shows how, using Distance Geometry, the...

This paper is an extended research for a novel technique for the position error compensations of the robot and manipulator calibration process based on an IT2FEI (interval type-2 fuzzy error interpolation) method. Traditional robots calibration implements either model or modeless method. The compensation of position error in modeless method is to move the robot’s end-effector to a target positi...