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Journal articles on the topic 'Mechanical end effector'

Author: Grafiati
Published: 4 June 2021
Last updated: 10 February 2022

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1

Goldenberg, A. A., and D. L. Lawrence. "End Effector Path Generation." Journal of Dynamic Systems, Measurement, and Control 108, no. 2 (June 1, 1986): 158–62. http://dx.doi.org/10.1115/1.3143761.

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The path followed by a robotic manipulator is often defined by a sequence of Cartesian knots, i.e., position and orientation (location) of the end effector and the corresponding linear and angular velocity (speed) at each knot. The path location and speed in the interval between knots are not specified. Typically the control of robots is performed in terms of joint coordinates. Often, the joint coordinates corresponding to the path knots are splined together using lower degree polynomials. The actual path and speed followed by the end effector can be obtained by performing forward (direct) kinematics—a pointwise transformation. To obtain a good approximation of the actual path, many points must be used. In this paper an efficient first order approximation of the actual path using third order (cubic) interpolating polynomials is presented. The technique eliminates the need for repeatedly using the forward kinematics. The technique is illustrated by means of numerical examples.
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2

Kazerooni, H. "A Practical Robotic End-Effector for Grasping Postal Sacks." Journal of Dynamic Systems, Measurement, and Control 126, no. 1 (March 1, 2004): 154–61. http://dx.doi.org/10.1115/1.1649981.

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This article describes a new class of end-effectors that can be used with robotic and material handling devices for grabbing and holding deformable objects with undefined shapes such as sacks and bags. These end-effectors can grab and hold filled sacks from any point on the sack and regardless of the sack orientation and position. The first prototype end-effector, designed for the U.S. Postal Service, has two rollers. The rollers are pushed toward each other by the force of a spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to the friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The end-effector described here has been evaluated and proven to be exceedingly effective in grabbing and holding postal sacks. This article describes the underlying principles of the design, grasp conditions and control of the end-effector.
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3

Koren, Yoram, and Moshe Shoham. "End-Effector Guidance of Robot Arms." CIRP Annals 36, no. 1 (1987): 289–92. http://dx.doi.org/10.1016/s0007-8506(07)62606-7.

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4

Hu, Yida, Dazhai Li, Yang Yang, and Xuguang Sun. "Integration of microsensor for microsurgery robot’s end-effector." Frontiers of Mechanical Engineering in China 2, no. 2 (April 2007): 205–9. http://dx.doi.org/10.1007/s11465-007-0035-5.

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5

Song, Shin-Min, Chi Meng Lei, and Jiang Wang. "The End-Effector Angle and Manipulator Dexterous Workspaces." Journal of Mechanical Design 112, no. 3 (September 1, 1990): 278–88. http://dx.doi.org/10.1115/1.2912605.

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The end-effector angle is defined as the angle between the end-effector axial axis and the hand axis (an axis from the wrist center to the end-effector reference point). Most industrial manipulators posses a zero end-effector angle. This paper shows that the dexterity of a manipulator, which is indexed by the volume of dexterous workspace, is affected by the end-effector angle. Three 6-d.o.f., anthropomorphic manipulators and three types of dexterous workspace are used to study this influence. The results show that, for all three manipulators, the volume of a dexterous workspace in general increases along with the end-effector angle and it reaches maximum value when the end-effector angle is 90 deg. This influence is very obvious with the reachably dexterous workspace and the 180 deg spinnably dexterous workspace and is less obvious with the 360 deg spinnably dexterous workspace. These results somewhat confirm the fact that the majority of human hand prehensions used in daily life operations apply a nonzero end-effector angle.
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6

Wanichnukhrox, Nakrob, Thavida Maneewarn, and Szathys Songschon. "Mechanical Analysis of a Hybrid Approach for a Lower Limb Rehabilitation Robot." Applied Mechanics and Materials 789-790 (September 2015): 665–74. http://dx.doi.org/10.4028/www.scientific.net/amm.789-790.665.

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The design of lower limb rehabilitation robot can be categorized into two approaches: the end-effector and the exoskeleton. Both types of the robots have different advantages and disadvantages. The exoskeleton type is designed to mimic the kinematic structure of the human skeleton by controlling hip and knee joints but the end-effector type is driven at the footplate which allows patients to perform various gait training exercise. In this paper, the end-effector and exoskeleton device are compared based on dynamical analysis using Matlab's Simechanics simulation. The hybrid lower limb rehabilitation robot is also proposed based on the exoskeleton robot with the adjustable mechanical coupling interface between human and robot and the active footplate. The hybrid design combines the advantages of both the exoskeleton and the end-effector by allowing the mechanical coupling parameters and the active footplate controller to be adjustable at different stages of training. The proposed design can improve both joints misalignment and joint trajectory tracking problems in both existing approaches.
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7

Wang, Chunrong, Jing Zhao, and Erdong Xia. "Design and optimization of a novel rescue end-effector." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 3 (February 28, 2018): 1032–44. http://dx.doi.org/10.1177/0954406218761506.

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This paper describes the design of a novel multi-functional rescue end-effector with tonging, shearing and grasping capabilities to meet the demands of urban catastrophe rescue applications. The tonging and shearing form and the grasping form of the end-effector are analysed. The two forms are determined using the transformations of their grasping mechanisms. Four objectives (to maximize shearing space, minimize mass, minimize the equivalent stress and minimize deformation) are proposed for selection of the optimal grasping mechanism structure. Additional objectives also involve the end-effector’s structural strength and kinematic characteristics. A nested optimization structure that is composed of the non-dominated sorting genetic algorithm II (NSGA-II) and finite element analysis is proposed to perform multi-domain and multi-objective optimization of the end-effector. To improve the optimization efficiency, a traditional synthesis technique and a sensitivity analysis are applied to reduce the outer and inner numbers of the design variables. Simulation results indicate that the values of the four target objectives are superior to those before optimization and two referenced objectives, and the end-effector mass in particular, can evidently be reduced.
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8

Liu, Dan, Xiaoming Liu, Pengyun Li, Xiaoqing Tang, Masaru Kojima, Qiang Huang, and Tatsuo Arai. "Magnetic Driven Two-Finger Micro-Hand with Soft Magnetic End-Effector for Force-Controlled Stable Manipulation in Microscale." Micromachines 12, no. 4 (April 7, 2021): 410. http://dx.doi.org/10.3390/mi12040410.

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In recent years, micromanipulators have provided the ability to interact with micro-objects in industrial and biomedical fields. However, traditional manipulators still encounter challenges in gaining the force feedback at the micro-scale. In this paper, we present a micronewton force-controlled two-finger microhand with a soft magnetic end-effector for stable grasping. In this system, a homemade electromagnet was used as the driving device to execute micro-objects manipulation. There were two soft end-effectors with diameters of 300 μm. One was a fixed end-effector that was only made of hydrogel, and the other one was a magnetic end-effector that contained a uniform mixture of polydimethylsiloxane (PDMS) and paramagnetic particles. The magnetic force on the soft magnetic end-effector was calibrated using an atomic force microscopy (AFM) probe. The performance tests demonstrated that the magnetically driven soft microhand had a grasping range of 0–260 μm, which allowed a clamping force with a resolution of 0.48 μN. The stable grasping capability of the magnetically driven soft microhand was validated by grasping different sized microbeads, transport under different velocities, and assembly of microbeads. The proposed system enables force-controlled manipulation, and we believe it has great potential in biological and industrial micromanipulation.
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9

Yuan, Peijiang, Ting Lai, Yong Li, Wei Han, Minqing Lin, Qiancheng Zhu, Yuanwei Liu, and Zhenyun Shi. "The attitude adjustment algorithm in drilling end-effector for aviation." Advances in Mechanical Engineering 8, no. 1 (January 28, 2016): 168781401662934. http://dx.doi.org/10.1177/1687814016629348.

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10

Rodriguez-Barroso, Alejandro, and Roque Saltaren. "Passive reconfigurable end effector for underwater simulation on humanoids." Mechanism and Machine Theory 163 (September 2021): 104387. http://dx.doi.org/10.1016/j.mechmachtheory.2021.104387.

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11

Zhao, J.-S., F. Chu, Z.-J. Feng, and J. S. Dai. "Actuation schemes of a spatial 3-PPRR parallel mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 226, no. 1 (September 23, 2011): 228–41. http://dx.doi.org/10.1177/0954406211412683.

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This paper presents a systematic method to analyse actuation schemes. With the wide application of complex spatial mechanisms in engineering the number of excess constraints included in a mechanism is increasing. As a result, there are an increasing number of cases in which the number of actuators needed to control an end-effector is larger than the number of degrees of freedom possessed by the end-effector. The mechanism architecture is first presented and then the mobility of the mechanism is analysed in terms of independent parameters in position constraint equations. Finally, the possible and feasible actuation schemes for the end-effector are generated and analysed.
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12

Basavaraj, Udai, and Joseph Duffy. "End-Effector Motion Capabilities of Serial Manipulators." International Journal of Robotics Research 12, no. 2 (April 1993): 132–45. http://dx.doi.org/10.1177/027836499301200203.

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13

Solari, M., V. Recagno, A. Roseo, S. Sacone, and R. Tacchino. "End Effector with Pseudomuscular Actuators: Simulation, Control and Realization." Journal of Intelligent Material Systems and Structures 4, no. 2 (April 1993): 157–60. http://dx.doi.org/10.1177/1045389x9300400203.

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14

Sanger, D. J., J. Q. Chen, S. J. Zhang, and D. Howard. "A general method for the stiffness analysis of manipulator mechanisms." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 214, no. 5 (May 1, 2000): 673–85. http://dx.doi.org/10.1243/0954406001523687.

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This paper is concerned with the displacement of the end effector of a manipulator, when subjected to an externally applied force system, which arises because of the flexibility of the actuator drives. General results are developed for the end effector infinitesimal stiffnesses (and compliances) in terms of the actuator infinitesimal stiffnesses (and compliances) for serial and parallel manipulators. It is shown that these quantities are dependent upon the instantaneous force system applied to the end effector, so that the relationship between the applied force system and the resulting displacement is non-linear, even for a given manipulator configuration. These results are of interest for a number of reasons. For example, the accuracy of a manipulator is directly related to its stiffness, and knowledge of the stiffnesses (or compliances) can be used to develop means of simultaneously controlling the force and displacement for a partially constrained end effector. Examples are provided to demonstrate the application of the general results to specific manipulator mechanisms, including both serial and parallel types.
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15

Park, Chulmin, Shinsuk Park, Hanpyo Hong, In-Ho Jeon, and Keri Kim. "Development of an end-effector device for loose body removal in hip arthroscopy." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 232, no. 10 (August 22, 2018): 987–98. http://dx.doi.org/10.1177/0954411918794991.

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This article describes a novel hand-operated end-effector device developed for loose body removal in hip arthroscopy. This sterilizable and reusable device incorporates a wire-ball joint mechanism that provides motion with 5 degrees of freedom. The design accounted for the following: (1) the diameter of the femoral head, (2) range of motion of the wrist joint of the operator, (3) ease of assembly of modular parts, and (4) material stiffness and durability. The developed device is composed of three parts: a pistol-shaped hand-held unit, forceps module, and end-effector module, all of which were constructed using polyamide-imide. Experiments were conducted to characterize the range of motion, pushing force, and lateral stiffness of the end-effector. Seven consulting surgeons evaluated the performance of the device in arthroscopic hip model and cadaveric studies in comparison with that of a conventional linear grasper. The experimental results show that the developed device can perform tasks that conventional linear graspers cannot. A specialized end-effector device was developed for hip arthroscopy where a high degree of stiffness is required. The end-effector module is interchangeable based on the required outer diameter, and it is also reusable after sterilization at high temperature.
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16

Zahid, Azlan, Long He, Lihua Zeng, Daeun Choi, James Schupp, and Paul Heinemann. "Development of a Robotic End-Effector for Apple Tree Pruning." Transactions of the ASABE 63, no. 4 (2020): 847–56. http://dx.doi.org/10.13031/trans.13729.

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HighlightsAn end-effector with two degrees of freedom (2R) was developed for pruning apple trees.A rational 2×2 relationship (R2 = 0.93) was found for ‘Fuji’ apple tree branch diameter and cutting force.Simulation showed that the cutter can be aligned in a wide range of orientations in a spherical workspace.The developed end-effector was able to cut branches up to 12 mm in diameter.Abstract. Robotics and automation technologies are now used extensively in agriculture, while production operations for tree fruit crops still largely depend on manual labor. Manual pruning is a labor-intensive and costly task in apple production. Robotic pruning is a potential solution, but it involves several challenges due to the unstructured work environment. This study focused on designing an end-effector prototype for pruning considering the maneuvering, spatial, mechanical, and horticultural requirements. Branch cutting force was measured with a thin force sensor to provide guidelines for the end-effector design. The test results indicated the relationship between the force required to cut different diameter branches with an R2 value of 0.93. The end-effector was developed using two rotary motors, a pneumatic cylinder, and a pair of bypass shear blades. A three-directional linear manipulator system and a control system were built for moving the end-effector to targeted locations. A mathematical model was developed for simulation of the workspace utilization and reachable points of the end-effector. The simulation results indicated that the end-effector can be aligned in a wide range of orientations of the cutter. Field tests were conducted for validation of the simulation results and performance assessment of the end-effector. The results indicated that the end-effector with the current parameter settings successfully cut branches up to 12 mm in diameter and was able to cut branches in a wide range of possible orientations in a given 3D space. The robotic end-effector developed in this study is a core component of an automated pruning system for fruit trees. In future work, an integrated manipulator system will be developed for branch accessibility with collision-free trajectories. Keywords: Malus × domestica (Borkh.), Pruning end-effector, Reachable-points simulation, Tree pruning.
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17

Feng, Xingxing, Haihua Sun, Tianqi Lv, and Yunqing Zhang. "Kinematic analysis of a PPPR spatial serial mechanism with geometric errors." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 234, no. 1 (November 4, 2018): 225–40. http://dx.doi.org/10.1177/0954406218809124.

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The present study focuses on the kinematic analysis of a PPPR spatial serial mechanism with a large number of geometric errors. The study is implemented in three steps: (1) development of a map between the end-effector position error and geometric source errors within the serial mechanism kinematic chains using homogeneous transformation matrix; (2) selection of geometric errors which have significant effects on end-effector positioning accuracy by sensitivity analysis; (3) kinematic analysis of the serial mechanism within which the geometric errors are modelled as interval variables. The computational algorithms are presented for positioning accuracy analysis and workspace analysis in consideration of geometric errors. The analysis results show that the key factors which have significant effects on end-effector position error can be identified efficiently, and the uncertain workspace can also be calculated efficiently.
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18

Rong, Xuewen, Rui Song, Hui Chai, and Xiaolin Ma. "Mechanical Design and Kinematics Analysis of a Hydraulically Actuated Manipulator." Open Mechanical Engineering Journal 8, no. 1 (December 12, 2014): 457–61. http://dx.doi.org/10.2174/1874155x01408010457.

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This paper gives a mechanism design of a six DOF hydraulically actuated manipulator firstly. Then its DH frames and link parameters are given. Next, its forward kinematic equations are derived according to homogeneous transformation method. Fourthly, the analytical solutions of its inverse kinematics are solved by given the position and posture of the end-effector simultaneously. The posture of the end-effector is given with three z-y-z Euler angles for they have obvious geometry meanings and are easy to be measured. In addition, the correctness of the inverse kinematic equations is verified in Simulink by comparing many sets of randomly produced joint variables in workspace and their corresponding inverse solutions.
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19

Tsui, Kenneth, Aaron A. Geisberger, Matt Ellis, and George D. Skidmore. "Micromachined end-effector and techniques for directed MEMS assembly." Journal of Micromechanics and Microengineering 14, no. 4 (January 19, 2004): 542–49. http://dx.doi.org/10.1088/0960-1317/14/4/015.

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20

Yu, Jun Hua, Li Jia Xu, Ke Fan Ren, Wei Peng Zhang, Zhi Gang Lu, and Pei Da Wang. "Design and Test of a Mechanical Device for the Manipulator of the Watermelon Picking Machine." Applied Mechanics and Materials 442 (October 2013): 291–97. http://dx.doi.org/10.4028/www.scientific.net/amm.442.291.

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This Paper designs a mechanical device for the manipulator of the watermelon picking machine against the low mechanical degree of watermelon picking machine. The mechanical device utilizes a mechanical arm to drive the end effector to run and the end effector is responsible for clamping and shearing watermelon vines, which avoids vine disturbance and sorts out vines to be easily cut down through the process design of clamping, promoting, and re-shearing. In addition, this Paper applies Pro/E modeling, finite element analysis, and simulation analysis to complete the 3D model design of the mechanical device and transforms the 3D model into 2D drawings in Auto CAD to complete the manufacturing and assembly of the manipulator, and the test result verifies the mechanical device may realize the reliable picking of watermelons.
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21

Park, Sumin, Jongwon Kim, and Giuk Lee. "Optimal trajectory planning considering optimal torque distribution of redundantly actuated parallel mechanism." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 232, no. 23 (February 13, 2018): 4410–19. http://dx.doi.org/10.1177/0954406217751818.

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Previous studies on the optimal operation planning of redundantly actuated parallel mechanisms have focused on optimal torque distribution for a predefined trajectory. However, the optimized result obtained for a predefined trajectory cannot guarantee an optimal operation plan, because the torque distribution ability of a redundantly actuated parallel mechanism is highly dependent on the shape of the end-effector trajectory. Therefore, we can expect the redundantly actuated parallel mechanism performance to be enhanced when both the trajectory and torque distribution are optimized during the optimal operation planning stage. We propose a novel redundantly actuated parallel mechanism optimization procedure that can optimize both the end-effector trajectory and torque distribution. The proposed procedure is composed of two stages of optimizers, i.e. upper- and lower-level optimizers that generate the end-effector trajectory and distribute the torques along the generated trajectory, respectively. Composition of these two stages of the optimization procedure allows optimization of both the trajectory and torque distribution, despite the correlation between them. The proposed optimization procedure is simulated using two types of cost functions. All the simulation results show that the proposed procedure facilitates optimization of the end-effector trajectory and the torque distribution concurrently. Also, the cost function value is minimized to a greater extent than in the result with the optimal torque distribution along the initial trajectory.
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22

Vakil, M., R. Fotouhi, and P. N. Nikiforuk. "Causal end-effector inversion of a flexible link manipulator." Mechatronics 19, no. 7 (October 2009): 1197–210. http://dx.doi.org/10.1016/j.mechatronics.2009.03.010.

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23

Tommasino, Domenico, Giulio Cipriani, Alberto Doria, and Giulio Rosati. "Effect of End-Effector Compliance on Collisions in Robotic Teleoperation." Applied Sciences 10, no. 24 (December 18, 2020): 9077. http://dx.doi.org/10.3390/app10249077.

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In robotic teleoperation, hard impacts between a tool and the manipulated object may impair the success of a task. In order to develop a robotic system that is able to minimize the final velocity of an object after impact, a comprehensive approach is adopted in this work, and the effect on the impact of the parameters of the tool and of the robot is studied. Mass, contact stiffness and damping, robot compliance and control and tool compliance are taken into account. A mathematical model including the tool and the robot moving along the approach direction shows that, in most conditions, robot compliance is not enough to mitigate the impact. A mechanical decoupling between the inertia of the tool and the inertia of the robot is needed. An elastic system based on a bi-stable mechanism is developed and its validity is shown by means of numerical simulations.
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24

Knezevic, Nikola, Branko Lukic, Kosta Jovanovic, Leon Zlajpah, and Tadej Petric. "End-effector Cartesian stiffness shaping - sequential least squares programming approach." Serbian Journal of Electrical Engineering 18, no. 1 (2021): 1–14. http://dx.doi.org/10.2298/sjee2101001k.

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Control of robot end-effector (EE) Cartesian stiffness matrix (or the whole mechanical impedance) is still a challenging open issue in physical humanrobot interaction (pHRI). This paper presents an optimization approach for shaping the robot EE Cartesian stiffness. This research targets collaborative robots with intrinsic compliance - serial elastic actuators (SEAs). Although robots with SEAs have constant joint stiffness, task redundancy (null-space) for a specific task could be used for robot reconfiguration and shaping the stiffness matrix while still keeping the EE position unchanged. The method proposed in this paper to investigate null-space reconfiguration's influence on Cartesian robot stiffness is based on the Sequential Least Squares Programming (SLSQP) algorithm, which presents an expansion of the quadratic programming algorithm for nonlinear functions with constraints. The method is tested in simulations for 4 DOF planar robot. Results are presented for control of the EE Cartesian stiffness initially along one axis, and then control of stiffness along both planar axis - shaping the main diagonal of the EE stiffness matrix.
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Aashith, C., and Muralidhara Rao. "Design and development of robotic end-effector position measuring device." International Journal of Advanced Mechatronic Systems 8, no. 2/3 (2020): 86. http://dx.doi.org/10.1504/ijamechs.2020.10033417.

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Aashith, C., and Muralidhara Rao. "Design and development of robotic end-effector position measuring device." International Journal of Advanced Mechatronic Systems 8, no. 2/3 (2020): 86. http://dx.doi.org/10.1504/ijamechs.2020.111305.

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27

OH, Yeon Taek. "Study of Orientation Error on Robot End Effector and Volumetric Error of Articulated Robot." Applied Sciences 9, no. 23 (November 28, 2019): 5149. http://dx.doi.org/10.3390/app9235149.

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Robots are being used in many areas. The robot performance constraints are repeatability and accuracy. Standardized testing and evaluation techniques are needed to examine the process capability of a wide variety of robots. Robot calibration is a term applied to the procedure used in determining actual values which describe the geometric dimensions and mechanical characteristics of a robot. The robot accuracy evaluation method is introduced. The study proposed a technique to analyze robot’s orientation error by using the data measured during circle contouring movement of the articulated robot end effectors. New measuring method is proposed to measure orientation errors. Circle contouring measurements were also undertaken to assess the significance of multi-axis movements on the accuracy of the end effector. The paper describes the experimental and theoretical accuracy characteristics of an articulated robot. Also, the technique devised using a simulation program for the robot geometry, together with results from a circular test, enables robot errors to be characterized in terms of orientation error and volumetric error. Close correlation was obtained between the experimental and theoretical results. Also, robot pose error was shown a significant factor influencing the accuracy of the robot end effector. Proposed techniques are useful to set up the articulated robot in the industrial site.
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Zhang, Hongwen, Zhanxia Zhu, Biwei Tang, and Jianping Yuan. "The establishment and verification of kinematic equation of all link centroid of the manipulator mounted on a satellite." Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233, no. 5 (April 26, 2018): 1801–19. http://dx.doi.org/10.1177/0954410018763926.

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When using space robot to capture target like failed satellite, the force impulse between the target and the end-effector of space robot will load the base satellite with additional momentum abruptly. When capture happens, the pre-impact configuration can influence augmentations of partial momentum of the base and the manipulator. In order to realize a pre-impact configuration, which can reduce the partial momentum augmentations, the control of all link centroid together with end-effector by path planning is very important. In this paper, we establish a basic velocity kinematic equation for all link centroid, which describes the basic linear kinematic relationship between the linear velocity of all link centroid and linear and angular velocities of the base, joint angular velocity of the manipulator, where this basic velocity kinematic equation can be developed into kinematic equations for all link centroid under different kinds of working modes such as free-floating working mode. All link centroid can be controlled by path planning with this equation. Besides, velocity kinematic equation for all link centroid of space robot under a specific working mode is similar to the velocity kinematic equation for end-effector of space robot under the same working mode, so all link centroid can be controlled together with end-effector by path planning. We have derived velocity kinematic equations for all link centroid of space robot with a free-floating base and a fixed base. Both of them are verified by numerical simulations. The motions of position and attitude of the base and the manipulator end caused by all link centroid motion are also shown by simulation study. We also realize the simultaneous path tracking of all link centroid and end-effector for a fixed base space robot.
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29

Ya-xin, Yu, Wu Fei, Zhu Rong, and Zhang Fei. "Principle Analysis and Parameter Optimization for Uuderactuated End-Effector Manipulator for Apple Picking." Open Materials Science Journal 9, no. 1 (June 26, 2015): 50–55. http://dx.doi.org/10.2174/1874088x01509010050.

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In this paper, the mechanical structure of an underactuated end-effector manipulator for apple-picking is presented. The structure is consisted of three identical fingers which are driven by one motor. Each finger is formed by three joints which are connected with connecting bar and gears. With operation of grasp and twist executed by the driven fingers, apple-picking action completed. Mathematical model of the mechanical structure is proposed. Kinematics simulation & optimization software which have a Human-Computer Interaction interface is developed with Visual Basic visualization platform. Parameters which affect enveloping space mostly are analyzed. With processing and analyzing data which get from the software, a set of optimum structure parameters are obtained. A sample machine of the End-effector Manipulator which is used for testing purpose is designed according to the optimum structure parameters.
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30

Kececi, E. Faruk. "Completely mechanical quick changeable joints for multipurpose explosive ordnance disposal robots." Robotica 27, no. 4 (July 2009): 555–65. http://dx.doi.org/10.1017/s0263574708004943.

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SUMMARYThis paper is an investigation of completely mechanical quick changeable joints for multipurpose explosive ordnance disposal (EOD) robots. With the assistance of a quick changeable joint, an ordinary EOD robot becomes a multipurpose robot with an end effector which can be switched during the task. This exchangeable end effector permits the robot to perform more complex duties. Making the joint completely mechanical increases its capacity and decreases its complexity of control and risk of failure. In this paper, the design, manufacturing, and testing stages are explained for four quick changeable joints each possessing different physical working principles. The test results reveal the best design for a multipurpose EOD robot and give ideas for other uses of quick changeable joints. Employing the quick changeable joints in other mobile robot applications can increase a robot's capacity and efficiency.
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31

Mohammad, Abd El Khalick, Jie Hong, Danwei Wang, and Yisheng Guan. "Synergistic integrated design of an electrochemical mechanical polishing end-effector for robotic polishing applications." Robotics and Computer-Integrated Manufacturing 55 (February 2019): 65–75. http://dx.doi.org/10.1016/j.rcim.2018.07.005.

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32

SUSAKI, Mari, Norihiko KATO, Motoyoshi FUJIWARA, Takanori MASUDA, Yoshihiko NOMURA, and Hirokazu MATSUI. "A Parameter Design of Parallel Mechanism by Using End Effector Resolution Index(Mechanical Systems)." Transactions of the Japan Society of Mechanical Engineers Series C 75, no. 750 (2009): 374–79. http://dx.doi.org/10.1299/kikaic.75.374.

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33

Voglewede, Philip, and Imme Ebert-Uphoff. "Application of Workspace Generation Techniques to Determine the Unconstrained Motion of Parallel Manipulators." Journal of Mechanical Design 126, no. 2 (March 1, 2004): 283–90. http://dx.doi.org/10.1115/1.1649967.

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Due to clearances in their passive joints, parallel manipulators always exhibit some unconstrained motion at the end effector. The amount of unconstrained motion depends on the pose of the manipulator and can increase significantly at or near singular configurations. This paper shows precisely how much unconstrained end effector motion exists at the end effector for a large class of parallel manipulators, namely those with passive revolute and/or spherical joints, if all the joint clearances are known. This includes the planar 3R_RR, and, in approximation the Gough-Stewart and the Hexa manipulators. For the analysis, the passive joints are assumed to be revolute or spherical because these are the simplest cases. However, the general framework also applies to other joint types, although leading to more complex calculations. For most manipulators, determining the amount of end effector motion can be transformed to a workspace generation problem. Therefore, general workspace generation techniques can be utilized.
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34

Kim, Jung-Joon, Myeong-Ju Kim, No-Sik Kwak, Chang-Hwi Kim, Hyeongsic Kim, and Jung-Yup Kim. "Development of an End-effector Typed Walking Rehabilitation Robot Capable of Power Assistance." Transactions of the Korean Society of Mechanical Engineers - A 42, no. 8 (August 31, 2018): 721–30. http://dx.doi.org/10.3795/ksme-a.2018.42.8.721.

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35

Guy, Travis N., and Scott B. Nokleby. "Development of an end-effector system for autonomous spraying applications and radiation surveying." Transactions of the Canadian Society for Mechanical Engineering 44, no. 4 (December 1, 2020): 541–57. http://dx.doi.org/10.1139/tcsme-2019-0184.

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This paper presents the design and testing of a scale proof-of-concept prototype robotic end-effector system for autonomous robotic shotcrete application and radiation surveying in underground uranium mining environments. The system presented consists of two functionally distinct prototype tools that achieve the independent tasks of autonomous robotic spray pattern control and surface radiation surveying. The first prototype tool presented is a novel, robotic shotcrete spraying tool that is capable of autonomously maintaining and adjusting its circular spray pattern diameter on target surfaces in response to changes in target surface distance. Control algorithms are presented that give the robotic shotcrete spraying tool the capability to produce advanced figure eight and spiral spraying patterns for surface preparation applications that involve spot filling deep surface cracks and pockets. Physical testing of the prototype tool empirically verified its ability to maintain circular spray pattern diameters at various target distances and demonstrated the application potential of the advanced figure eight and spiral spraying patterns. The second prototype tool presented is a Geiger–Müller tube-based radiation detection tool that uses lead shielding and a single-hole collimator in combination with precise robotic positioning to capture localized radiation measurements of surfaces within radiation-rich environments. Physical testing of the prototype tool demonstrated its ability to create radiation survey profiles that distinctly characterized the radiological profile of test target surfaces embedded with various radioactive sources.
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FURUTANI, Katsushi, Kazuhiro SHIBATANI, Naoki ITOH, and Naotake MOHRI. "Development of End Effector Utilizing Parallel Mechanism for EDM with a Scanning Motion." Journal of the Japan Society for Precision Engineering 63, no. 5 (1997): 721–25. http://dx.doi.org/10.2493/jjspe.63.721.

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37

Ma, Jun Qing, and Ai Guo Song. "Development of a Novel Two-Axis Force Sensor for Chinese Massage Robot." Applied Mechanics and Materials 103 (September 2011): 299–304. http://dx.doi.org/10.4028/www.scientific.net/amm.103.299.

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In order to judge and control applied force of Chinese massage robot’s end-effector on human body accurately, multi-dimensional interactive forces between massage robot’s end-effector and human should be measured. In this paper, a novel two-axis force sensor suitable for massage robot’s end-effector is presented, which is much smaller than existing sensors but in the same range measurement. Mechanical structure is introduced, theoretical analysis of elastic body is made, and finite element analysis is used to analyze its static characteristic. Then, the distribution of strain gauges and design of Hilton Bridge Circuit are described in detail. Finally, a prototype is fabricated. Decoupling algorithm is designed to reduce the interference error. The result of static calibration experimental data shows that the sensor has features of high precision and sensitivity.
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38

Pickard, Joshua K., and Juan A. Carretero. "AN INTERVAL ANALYSIS METHOD FOR WRENCH WORKSPACE DETERMINATION OF PARALLEL MANIPULATOR ARCHITECTURES." Transactions of the Canadian Society for Mechanical Engineering 40, no. 2 (June 2016): 139–54. http://dx.doi.org/10.1139/tcsme-2016-0012.

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This paper deals with the wrench workspace (WW) determination of parallel manipulators. The WW is the set of end-effector poses (positions and orientations) for which the active joints are able to balance a set of external wrenches acting at the end-effector. The determination of the WW is important when selecting an appropriate manipulator design since the size and shape of the WW are dependent on the manipulator’s geometry (design) and selected actuators. Algorithms for the determination of the reachable workspace and the WW are presented. The algorithms are applicable to manipulator architectures utilizing actuators with positive and negative limits on the force/torque they can generate, as well as cable-driven parallel manipulator architectures which require nonnegative actuator limits to maintain positive cable tensions. The developed algorithms are demonstrated in case studies applied to a cable-driven parallel manipulator with 2-degrees-of-freedom and three cables and to a 3-RRR parallel manipulator. The approaches used in this paper provide guaranteed results and are based on methods utilizing interval analysis techniques for the representation of end-effector poses and design parameters.
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39

Rastegar, J., L. Yuan, and J. Zhang. "Smart Actuator Positioning and Displacement Transmissibility in Serial and Parallel Robot Manipulators for Performance Enhancement." Journal of Mechanical Design 127, no. 4 (September 14, 2004): 589–95. http://dx.doi.org/10.1115/1.1898340.

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A method is presented for the evaluation of the transmissibility of displacement from smart (active) actuators integrated in the structure of robot manipulators to the manipulator joint and end-effector displacements. The method is based on studying the characteristics of the Jacobian of the mapping function between the two displacements for a given position of the robot manipulator. The developed method provides a tool for the determination of the positioning of smart actuators to provide maximum effectiveness in eliminating high harmonics of the joint or the end-effector motion. In robots with serial and parallel kinematics chains containing nonprismatic joints, due to the associated kinematics nonlinearity, if the joint motions were synthesized with low harmonic trajectories, the end-effector trajectory would still contain high harmonics of the joint motions. Alternatively, if the end-effector motion were synthesized with low harmonic components, due to the inverse kinematics nonlinearity, the actuated joint trajectories would contain a significant high harmonic component. As a result, the operating speed and tracking precision are degraded. By integrating smart materials based actuators in the structure of robot manipulators to provide small amplitude and high frequency motions, the high harmonic component of the actuated joint and/or the end-effector motions can be significantly reduced, thereby making it possible to achieve higher operating speed and tracking precision.
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40

Novotný, František, and Marcel Horák. "Parallel Cooperation of Robots during Handling with Jumbo Glass Sheets." Advanced Materials Research 39-40 (April 2008): 465–68. http://dx.doi.org/10.4028/www.scientific.net/amr.39-40.465.

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In the study, the mechanical behaviour of the robot, end effector – object – end effector, robot system is analyzed in terms of external forces affecting robots and their grippers as well as deformation forces influencing on the glass sheet through grippers provided that the robot kinematical structure and vacuum gripping head form an absolutely rigid system. The solution results are stress fields in the glass sheet, requirements for the robot path accuracy, and recommendations for solving special vacuum grippers for this type of robotic handling.
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41

Neupert, Carsten, Sebastian Matich, Peter P. Pott, Christian Hatzfeld, and Roland Werthschützky. "Pseudo-haptic feedback in medical teleoperation." Current Directions in Biomedical Engineering 1, no. 1 (September 1, 2015): 160–63. http://dx.doi.org/10.1515/cdbme-2015-0040.

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AbstractPseudo-haptic feedback is a haptic illusion based on a mismatch of haptic and visual perception. It is well known from applications in virtual environments. In this work, we discuss the usabiliy of the principle of pseudo-haptic feedback for teleoperation. Using pseudo-haptic feedback can ease the design of haptic medical tele-operation systems.Thereby a user’s grasping force at an isometric user interface is used to control the closing angle of an end effector of a surgical robot. To provide a realistic haptic feedback, the coupling characteristic of grasping force and end effector closing angle is changed depending on acting end effector interaction forces.With an experiment, we show the usability of pseudo-haptic feedback for discriminating compliances, comparable to the mechanical characteristic of muscles relaxed and contracted. The provided results base upon the data of 10 subjects, and 300 trails.
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42

Hui, DU, GAO Feng, and PAN Yang. "Kinematic analysis and design of a novel 6-degree of freedom parallel robot." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 229, no. 2 (May 7, 2014): 291–303. http://dx.doi.org/10.1177/0954406214533097.

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A novel 3-UP3R parallel mechanism with six degree of freedoms is proposed in this paper. One most important advantage of this mechanism is that the three translational and three rotational motions are partially decoupled: the end-effector position is only determined by three inputs, while the rotational angles are relative to all six inputs. The design methodology via GF set theory is brought out, using which the limb type can be determined. The mobility of the end-effector is analyzed. After that, the kinematic and velocity models are formulated. Then, workspace is studied, and since the robot is partially decoupled, the reachable workspace is also the dexterous workspace. In the end, both local and global performances are discussed using conditioning indexes. The experiment of real prototype shows that this mechanism works well and may be applied in many fields.
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43

Hoevenaars, Antonius GL, Patrice Lambert, and Just L. Herder. "Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 3 (September 1, 2015): 341–52. http://dx.doi.org/10.1177/0954406215602283.

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Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as structural elements. Parallel manipulators potentially include both actuated joints, passive compliant joints, and zero stiffness joints, while a leg may impose constraints on the end-effector in the case of lower mobility parallel manipulators. Additionally, parallel manipulators are often designed to interact with an environment, which means that an external wrench may be applied to the end-effector. This paper presents a Jacobian-based stiffness analysis method, based on screw theory, that effectively considers all above aspects and which also applies to parallel manipulators with non-redundant legs.
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44

Minor, M., and R. Mukherjee. "A Mechanism for Dexterous End-Effector Placement During Minimally Invasive Surgery." Journal of Mechanical Design 121, no. 4 (December 1, 1999): 472–79. http://dx.doi.org/10.1115/1.2829485.

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Presented here is the design of a mechanism for dexterous placement of an end-effector during minimally invasive surgery. A literature review is presented to show that capabilities of the mechanism are unavailable in current instrumentation. Apart from actuation of the end-effector, our mechanism provides 180° bi-directional articulation relative to the support tube and rotation of the end-effector about the articulated axis. These are accomplished via a compact multi-link structure comprised of gears and gear-links that provide excellent stiffness, load capacity and durability. The structure is optimized to have a large and dexterous workspace, low backlash, and small force magnification. Maximization of load capacity and durability of the complete mechanism is achieved by the use of high strength stainless steels, gears with 25° pressure angles to accommodate larger sized teeth, optimized gear pack thicknesses to distribute stresses evenly, and a compact forceps design to reduce tip length. Resistance to pitting is improved by alternating materials and/or hardness of materials between mating parts. The instrument is capable of supporting 4.5 N needle tip loads with infinite life expectancy and loads up to 8.7 N intermittently.
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45

Korayem, M. H., H. Ghariblu, and A. Basu. "Maximum allowable load of mobile manipulators for two given end points of end effector." International Journal of Advanced Manufacturing Technology 24, no. 9-10 (November 2004): 743–51. http://dx.doi.org/10.1007/s00170-003-1748-1.

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46

Tian, Yu, Hongbo Wang, Baoshan Niu, Yongshun Zhang, Jiazheng Du, Jianye Niu, and Li Sun. "Mechanical Design and Analysis of the End-Effector Finger Rehabilitation Robot (EFRR) for Stroke Patients." Machines 9, no. 6 (May 26, 2021): 110. http://dx.doi.org/10.3390/machines9060110.

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Most existing finger rehabilitation robots are structurally complex and cannot be adapted to multiple work conditions, such as clinical and home. In addition, there is a lack of attention to active adduction/abduction (A/A) movement, which prevents stroke patients from opening the joint in time and affects the rehabilitation process. In this paper, an end-effector finger rehabilitation robot (EFRR) with active A/A motion that can be applied to a variety of applications is proposed. First, the natural movement curve of the finger is analyzed, which is the basis of the mechanism design. Based on the working principle of the cam mechanism, the flexion/extension (F/E) movement module is designed and the details used to ensure the safety and reliability of the device are introduced. Then, a novel A/A movement module is proposed, using the components that can easily individualized design to achieve active A/A motion only by one single motor, which makes up for the shortcomings of the existing devices. As for the control system, a fuzzy proportional-derivative (PD) adaptive impedance control strategy based on the position information is proposed, which can make the device more compliant, avoid secondary injuries caused by excessive muscle tension, and protect the fingers effectively. Finally, some preliminary experiments of the prototype are reported, and the results shows that the EFRR has good performance, which lays the foundation for future work.
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47

Antonelli, Michele Gabrio, and Pierluigi Beomonte Zobel. "Automated Screwing of Fittings in Pneumatic Manifolds." International Journal of Automation Technology 15, no. 2 (March 5, 2021): 140–48. http://dx.doi.org/10.20965/ijat.2021.p0140.

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The task of screwing is based on a set of actions with no added value, requiring precision, attention, and repeatability. These set of actions could consist of alienating and demanding activity for a human operator. Collaborative robotics can facilitate the performance of such tasks. This investigation focuses on the development of a smart station for the automated screwing of fittings in pneumatic manifolds. The collaborative robot Sawyer produced by Rethink Robotics is equipped with an appropriate end-effector and was utilized to receive the fittings from a vibrating feeder towards the end-effector. This facilitated centering of the fittings on the threaded holes, and the performance of the screwing task on a set of manifolds placed on a rotating station. The design of the end-effector and its prototype is described. In addition, the proposed automated process was experimentally tested and its effectiveness was validated.
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48

Lei, Jing Tao. "Configuration Design of Modular 3-PRS Parallel Robot and Dynamic Simulation Analysis." Applied Mechanics and Materials 130-134 (October 2011): 347–52. http://dx.doi.org/10.4028/www.scientific.net/amm.130-134.347.

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This paper presented model-based integrated design technology for configuration design of modular 3-PRS parallel robot. The kinematics screws matrix and constraint screws matrix of the end effector were obtained based on screw theory, the constraints of the end effector were analyzed and the degree of freedom of the robot can be determined. The forward kinematics of the parallel robot was analyzed according to the geometric relationship of a kinematics chain. Three-dimension solid model of the parallel robot was designed. Afterwards, the co-simulation of the mechanical and control system of the parallel robot was studied by applying virtual prototype technology to optimize the parameters of mechanical structure and control system. The simulation results of kinematics and dynamics can be obtained, which will offer basis for developing the prototype system.
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49

Chen, Zhijun, and Feng Gao. "Time-optimal trajectory planning method for six-legged robots under actuator constraints." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 14 (March 5, 2019): 4990–5002. http://dx.doi.org/10.1177/0954406219833077.

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Current studies on time-optimal trajectory planning centers on cases with fixed base and only one end-effector. However, the free-floating body and the multiple legs of the legged robot make the current methods inapplicable. This paper proposes a time-optimal trajectory planning method for six-legged robots. The model of the optimization problem for six-legged robots is built by considering the base and the end-effectors separately. Both the actuator constraints and the gait cycle constraints are taken into account. A novel two-step optimization method is proposed to solve the optimization problem. The first step solves the time-optimal trajectory of the body and the second step solves the time-optimal trajectory of the swinging legs. Finally, the method is applied to a six-parallel-legged robot and validated by experiments on the prototype. The results show that the velocity of the optimized gait is improved by 17.8% in contrast to the non-optimized one.
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50

Rawal, B. R., Vinod Pare, and Kartikeya Tripathi. "Development of noncontact end effector for handling of bakery products." International Journal of Advanced Manufacturing Technology 38, no. 5-6 (December 8, 2007): 524–28. http://dx.doi.org/10.1007/s00170-007-1166-x.

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