Self-reconfiguration of robotic manipulators under joint failure can be achieved via fault-tolerance strategies. Faulttolerant manipulators are required to continue their endeffector motion with a minimum velocity jump, when failures occur to their joints. Optimal fault tolerance of the manipulators requires a framework that can map the velocity jump of the end-effector to the compensating join...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

The evolution of requirements for mechanical products toward higher performances, coupled with never ending demands for shorter product design cycle, has intensified the need for exploring new architectures and better design methodologies in order to search the optimal solutions in a larger design space including those with greater complexity which are usually not addressed by available design ...

The main focus of this work is to perform the gravity balancing of a seven degrees-of-freedom (DOFs) hybrid manipulator. A hybrid manipulator is a combination of openand closed-loop chains and contains planar and spatial links. Gravity balancing is an important aspect for robotic manipulators, especially for serial manipulators, where with increase in number of links, the gravitational effect o...

In this paper, the geometric design problem of serial-link robot manipulators with three revolute (R) joints is solved using a polynomial homotopy continuation method. Three spatial positions and orientations are defined and the dimensions of the geometric parameters of the 3-R manipulator are computed so that the manipulator will be able to place its end-effector at these three pre-specified l...

This paper studies the geometric design of spatial two degrees of freedom, open loop robot manipulators with revolute joints that perform tasks, which require the positioning of the end-effector in three spatial locations. This research is important in situations where a robotic manipulator or mechanism with a small number of joint degrees of freedom is designed to perform higher degree of free...

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed succ...

In this paper, we deal with two important issues in relation to modular reconfigurable manipulators, namely, the determination of the modular assembly configuration optimally suited to perform a specific task and the synthesis of fault tolerant systems. We present a numerical approach yielding an assembly configuration that satisfies four kinematic task requirements: reachability, joint limits,...

I n this paper, we discuss the force control of flexible manipulators. Since the force control of flexible manipulators with planar one or two links using the distributed-parameter modeling has been the subject of a considerable number of publications until now, so real t ime computations of the force control schemes are possible. But, application of those control schemes to multi-link spatial ...