The effect of joint strengthening on standing vertical jump height is investigated by computer simulation. The human model consists of five rigid segments representing the feet, shanks, thighs, HT (head and trunk), and arms. Segments are connected by frictionless revolute joints and model movement is driven by joint torque actuators. Each joint torque is the product of maximum isometric torque ...

This paper presents a novel decoupled parallel 2-DOF spherical mechanism. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Next, following the discussions of some practical types of flat pairs, the new mechanism is given. Besides, the new mechanism uses a planar parallelogram to replace the prismatic pair to achieve the simple kinematics of one-to-one input-out...

This paper presents a numerical implementation of inverse and direct kinematics of a 3-DOF parallel robot with R-P-S (Revolute-Prismatic-Spherical) joint structure using Matlab. The robot has two degrees of orientation freedom and one degree of translatory freedom. The inverse kinematics was expressed in term of Z-Y-Z Euler angles and direct kinematics was solved numerically using Newton-Kantor...

In this paper, the forward displacement problem of 6-dof parallel manipulator is transformed into a new equivalent one, and then a novel approximation algorithm with an obvious physical significance is adopted to solve it. The characteristic of the presented algorithm is that, its convergence domain is bigger than that of the general approximation algorithm. Numerical simulation is illustrated ...

At present, the fastener installation in a wingbox facing narrow space must be performed manually. Using robot is an appropriate solution for automatic assembly. However, existing robots cannot meet internal fastening requirements. A new with prismatic joint and four revolute joints (1P4R) was developed to perform positioning operation wingbox. compact arm link designed, mechanical frame struct...

Motivated by the fact that in many industrial robots the joint velocity is estimated from position measurements, the trajectory tracking of robot manipulators with output feedback is addressed in this paper. The fact that robot actuators have limited power is also taken into account. Let us notice that few solutions for the torque-bounded output feedback tracking control problem have been propo...

Denavit Hartenberg (D-H) Kinematic structure representation of robot having revolute joint normally have fix arm length a, offset distance d, twist angle α and only varied joint angle θ. This paper introduce two (2) inputs variable of twist angle α and joint variable θ besides fix value of arm length a and offset distance d. Variable value of α and θ are dependent on polar electromagnetic actua...

This work proposes an image-based visual servoing scheme applied to a class of overactuated planar parallel robots with revolute joints. A Proportional Derivative algorithm computes torques for the robot active joints. The Derivative action operates at the joint level and the Proportional action works at the visual level. A linear filter provides velocity estimates from active joint position me...