A distributed remote collaborative hybrid test (RCHT) method for complex substructures based on OpenFresco is presented in this paper. Challenges the RCHT include modeling of numerical substructure, boundary degree-of-freedom (DOF) loading, and equivalent communication multi-story space frame as a substructure OpenFresco. The effectiveness accuracy proposed are verified by series tests that rep...

The objective in this work is to generate and discuss the stability results of fully-immersed end-milling process with parameters; tool mass m 0.0431kg, tool natural frequency 5700 rads , damping factor ξ 0 . 0 2 and workpiece cutting coefficient C 3.5 10 Nm ⁄ . Different no of teeth is considered for the end-milling. Both 1-DOF and 2-DOF chatter models of the system are generated on the basis ...

A haptic interface controlled in impedance mode should present its user with a uniform force capability matching the human hand. This paper reviews a mechanism design methodology that maximizes a workspace-inclusive isotropy index. Force maximization in coreless or voice-coil motors is also considered in order to maximize haptic interface acceleration. Example designs of a planar 3-DOF haptic m...

The participation of scapula motion in arm movement is clinically well known and recent three dimensional (3D) analyses using kinematic techniques have confirmed its importance. Scapular motion relative to the thorax has a theoretical maximum of 6 degrees of freedom (DoF), resulting from rotations at both clavicular joints (3 rotational DoF each). However, most recent kinematic studies have onl...

In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. less than 6 degrees-of-freedom (“DoF”), a prescribed set tasks in constrained environment. Since these cannot achieve full 6-DoF they are able to follow only certain paths position and orientation space. While most common approach problem employs pure path-planni...

the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons’ walking is proposed. It has two 6-DOF legs, two 1-passive-DOF ...

The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, kinematic dynamic models, ease control allow for a variety application prospects. This paper concentrates on derivations 5-DOF hybrid manipulators based synthesized mechanisms. To understand effect constraint motion rigid body clearly, meth...

This paper describes a new structure of a six-DOF parallel robot. First, a known planar three-DOF double-triangular structure is modified by replacing the stationary triangle with a circle. It increases the work envelope considerably especially when rotational motions are required. The ability for unlimited rotational motion allows extending the structure into six-DOF by using two sets of stati...