the suspension system of a vehicle is one of the most important parts which is involved in the process of vehicle designing. when a vehicle suspension system is designed, the evaluation of its performance against the road disturbances such as shocks and bumps are very important. the most commonly used systems consist of four hydraulic jacks with mobility in vertical line with low speed and low ...

The suspension system of a vehicle is one of the most important parts which is involved in the process of vehicle designing. When a vehicle suspension system is designed, the evaluation of its performance against the road disturbances such as shocks and bumps are very important. The most commonly used systems consist of four hydraulic Jacks with mobility in vertical line with low speed and l...

Modeling and Wrench feasible workspace analysis of a spatial cable suspended robots is presented. A six-cable spatial cable robot is used the same as Stewart robots. Due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. Various workspaces are defined and the results of simulation are presented on the basis of various workspaces and app...

modeling and wrench feasible workspace analysis of a spatial cable suspended robots is presented. a six-cable spatial cable robot is used the same as stewart robots. due to slow motion of the robot we suppose the motion as pseudostatic and kinetostatic modeling is performed. various workspaces are defined and the results of simulation are presented on the basis of various workspaces and applied...

A robot capable of operating in active pipelines would be of great commercial and industrial benefit. This paper outlines the requirements for such a robot and considers the advantages and disadvantages of existing systems. A new design for an inchworm robot based on the Gough-Stewart parallel platform is presented. The use of inchworm locomotion keeps the control system relatively simple, whil...

in this paper, we consider the problem of efficient computation of the forward kinematics of a 6 DOF robot manipulator built to use in rehabilitation purpose. Forward kinematics problem (FKP) of parallel robots is very difficult to solve in comparison to the serial manipulators. This problem is almost impossible to solve analytically. Numerical methods are one of the common solutions for this p...

In this paper a new formulation of the inverse dynamic model of the Gough-Stewart platform is proposed. This approach is based on the methodology developped by Khalil. The platform is considered as a multi robot system moving a common load. Using a global formalism, the Jacobian and inertia matrices of each segment are computed in a factorized form. This paper provides a basis for parallel algo...

This work presents a design example of a generic six-degree-of-freedom parallel manipulator commonly known as the Stewart platform. It is meant as a practical guideline covering the basic theory of Stewart platforms and the actual low cost realization suitable for rapid prototyping. The inverse kinematics solution and a coarse-grained evaluation are provided for the actually constructed prototy...