In this paper, we introduce the generalized Stewart platform consisting of two rigid bodies connected with six distance and/or angular constraints between six pairs of points, lines and/or planes in the base and moving platform respectively, which could be considered as the most general form of parallel manipulators with six DOF in certain sense. We prove that there exist 3850 possible forms of...

Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...

A lunar version of the Robocrane is being developed at the Robot Systems Division of the National Institute of Standards and Technology (NIST) to address the needs of NASA researchers. The NIST robot, called ROBOCRANE, has three-pairs of rigged legs instead of actuators to create a gantry. The legs are joined in a Stewart Platform configuration providing a means for canceling out rotations norm...

A Stewart platform with piezoelectric actuators is presented for micro-vibration isolation. The Jacobian matrix of the Stewart platform, which reveals the relationship between the position/pointing of the payload and the extensions of the struts, is derived by the kinematic analysis and modified according to measured FRFs(frequency response function). The dynamic model of the Stewart platform i...

* Aided by grants from the National Foundation and from the American Cancer Society, Inc. 1 Gross, L., Proc. Soc. Exp. Biol. Med., 83, 414-421 (1953). 2 Stewart, S. E., Anat. Rec., 117,532 (1953). 3 DiMayorca, G. A., B. E. Eddy, S. E. Stewart, W. S. Hunter, C. Friend, and A. Bendich, these PROCEEDINGS, 45, 1805-1808 (1959). 4Smith, J., M. Vogt, G. Freeman, and R. Dulbecco (to be published). Ste...

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

In the field of parallel robots, marked by birth and application Gough–Stewart mechanism [...]

3 Cheryl-lynn Y. Ong, Scott A Beatson, Alastair G. McEwan, and Mark A. Schembri * 4 5 School of Chemistry and Molecular Biosciences, University of Queensland, Brisbane, 6 Queensland 4072, Australia. 7 8 Running Title: Dynamics of an evolving E. coli biofilm 9 10