Relevant bibliographies by topics / Robotic translation mechanism

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Academic literature on the topic 'Robotic translation mechanism'

Author: Grafiati
Published: 28 June 2021
Last updated: 29 July 2025

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Journal articles on the topic "Robotic translation mechanism"

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Li, Peng Hui, and Rong Ye Li. "The Kinematic Analysis of the Walking Mechanism Based on the Leg-Wheel Mobile Robot." Advanced Materials Research 694-697 (May 2013): 1700–1704. http://dx.doi.org/10.4028/www.scientific.net/amr.694-697.1700.

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In the studying and designing process for the robotic walking system, a theoretical analysis and simulation on the kinematic characteristics of the walking mechanism of the robot is done. From our experiments, the characteristic curves of velocity and acceleration of the drop-foot point are obtained. The walking mechanism is stable in the translation cycle, which contributes to the stability of the robot motion, while the robot still can move at a certain speed. The stress of the walking mechanism is complicated in the step cycle, because both the velocity and acceleration get a certain amount
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Godoy, Jorge Curiel, Ignacio Juárez Campos, Lucia Márquez Pérez, and Leonardo Romero Muñoz. "Nonanthropomorphic exoskeleton with legs based on eight-bar linkages." International Journal of Advanced Robotic Systems 15, no. 1 (2018): 172988141875577. http://dx.doi.org/10.1177/1729881418755770.

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This article presents the principles upon which a new nonanthropomorphic biped exoskeleton was designed, whose legs are based on an eight-bar mechanism. The main function of the exoskeleton is to assist people who have difficulty walking. Every leg is based on the planar Peaucellier–Lipkin mechanism, which is a one degree of freedom linkage. To be used as a robotic leg, the Peaucellier–Lipkin mechanism was modified by including two more degrees of freedom, as well as by the addition of a mechanical system based on toothed pulleys and timing belts that provides balance and stability to the user
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Beira, R., L. Santos-Carreras, G. Rognini, H. Bleuler, and R. Clavel. "Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery." Applied Bionics and Biomechanics 8, no. 2 (2011): 191–208. http://dx.doi.org/10.1155/2011/973097.

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The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism, namedDionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM) that is the MIS entry port. Another important feature of the proposed positioning
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Choi, Jueun, Sangeun Park, Young-Hak Kim, Youngjin Moon, and Jaesoon Choi. "A Vascular Intervention Assist Device Using Bi-Motional Roller Cartridge Structure and Clinical Evaluation." Biosensors 11, no. 9 (2021): 329. http://dx.doi.org/10.3390/bios11090329.

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Conventional vascular intervention procedures present issues including X-ray exposure during operation, and an experience-dependent success rate and clinical outcome. This paper presents a novel robotic system using modularized bi-motional roller cartridge assemblies for robotic vascular interventions, specifically percutaneous coronary interventions (PCIs). The patient-side robot manipulates instruments such as the guiding catheter, guidewire, balloon/stent catheter, and diagnostic sensor catheter via commands from the user interface device, which is controlled by the physician. The proposed
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Palpacelli, Matteo, Luca Carbonari, Giacomo Palmieri, and Massimo Callegari. "Design of a Lockable Spherical Joint for a Reconfigurable 3-URU Parallel Platform." Robotics 7, no. 3 (2018): 42. http://dx.doi.org/10.3390/robotics7030042.

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This article deals with the functional and preliminary design of a reconfigurable joint for robotic applications. Such mechanism is a key element for a class of lower mobility parallel manipulators, allowing a local reconfiguration of the kinematic chain that enables a change in platform’s mobility. The mechanism can be integrated in the kinematic structure of a 3-URU manipulator, which shall accordingly gain the ability to change mobility from pure translation to pure rotation. As a matter of fact, special kinematics conditions must be met for the accomplishment of this task. Such peculiar re
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Elsamanty, Mahmoud, Ehab M. Faidallah, Yehia H. Hossameldin, et al. "Workspace Analysis and Path Planning of a Novel Robot Configuration with a 9-DOF Serial-Parallel Hybrid Manipulator (SPHM)." Applied Sciences 13, no. 4 (2023): 2088. http://dx.doi.org/10.3390/app13042088.

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The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned to combining both mechanisms, sharing the advantage from serial to parallel or vice versa. This paper proposes a new configuration design for a serial-parallel hybrid manipulator (SPHM) using the industrial robotic KUKA Kr6 R900 and 3-DOF parallel spherical mechanism. The Kr6 R900 has six degrees of freedom (6-DOF) divided into three joints for translation (x, y, z) and another three joints for orientation (A, B, C) of
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Zhou, Chunlin, Huifeng Wu, Xiang Xu, Yong Liu, Qi Zhu, and Shuwen Pan. "Development and control of a robotic arm for percutaneous surgery." Assembly Automation 37, no. 3 (2017): 314–21. http://dx.doi.org/10.1108/aa-12-2016-179.

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Purpose The purpose of this paper is to propose a robotic system for percutaneous surgery. The key component in the system, a robotic arm that can manipulate a puncture needle is presented. The mechanical design, the motion control and the force control method of the robotic arm are discussed in the paper. Design/methodology/approach The arm with an arc mechanism placed on a 3D Cartesian stage is developed as a puncture needle manipulator to locate the position of the needle tip, tune the needle’s posture and actuate the puncture motion under the visual guidance of two orthogonal X-ray images
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Michel, Guillaume, Philippe Bordure, and Damien Chablat. "A New Robotic Endoscope Holder for Ear and Sinus Surgery with an Integrated Safety Device." Sensors 22, no. 14 (2022): 5175. http://dx.doi.org/10.3390/s22145175.

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In the field of sinus and ear surgery, and more generally in microsurgery, the surgeon is faced with several challenges. The operations are traditionally carried out under binocular loupes, which allows for the surgeon to use both hands for a microinstrument and an aspiration tool. More recently, the development of endoscopic otological surgery allowed for seeing areas that are difficult to access. However, the need to handle the endoscope reduces the surgeon’s ability to use only one instrument at a time. Thus, despite anaesthesia, patient motions during surgery can be very risky and are not
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Kim, In, Kotaro Tadano, Takahiro Kanno, and Kenji Kawashima. "Implementing pseudo haptic feedback in a semi-isometric master interface for robotic surgery." International Journal of Advanced Robotic Systems 14, no. 5 (2017): 172988141773388. http://dx.doi.org/10.1177/1729881417733885.

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We have developed a master interface that uses an isometric velocity control technique for translation and an anisometric position control technique for rotation. Using the developed interface, the operator can concentrate on the slave side and control the robot without repositioning required in conventional master arm due to the workspace limitation. However, it cannot display haptic to the operator for the translation directions with the manipulator. In this article, we propose a method to feedback the external force on the slave side to the master manipulator without using actuators or link
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Shi, Hu, Zhixin Liang, Boyang Zhang, and Haitao Wang. "Design and Performance Verification of a Novel RCM Mechanism for a Minimally Invasive Surgical Robot." Sensors 23, no. 4 (2023): 2361. http://dx.doi.org/10.3390/s23042361.

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Minimally invasive surgical robots have the advantages of high positioning accuracy, good stability, and flexible operation, which can effectively improve the quality of surgery and reduce the difficulty for doctors to operate. However, in order to realize the translation of the existing RCM mechanism, it is often necessary to add a mobile unit, which is often bulky and occupies most space above the patient’s body, thus causing interference to the operation. In this paper, a new type of planar RCM mechanism is proposed. Based on this mechanism, a 3-DOF robotic arm is designed, which can comple
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Dissertations / Theses on the topic "Robotic translation mechanism"

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Špaček, Matěj. "Návrh manipulátoru vzorku pro CCHM mikroskop." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444981.

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In the Laboratory of the Experimental Biophotonics at Brno University of Technology, a new generation of the Coherence-Controlled Holographic Microscope (CCHM) is being developed. Because of the automation of certain microscope procedures, a fully motorized three axis computer controlled manipulator of the sample is to be employed. A fast and accurate lateral positioning in a range of several centimeters is required. For the focusing capability, very precise positioning in the optical axes is required as well. Initially, the basics of microscope manipulator design are presented. Then, commerci
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Books on the topic "Robotic translation mechanism"

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Structural Synthesis Of Parallel Robots Translational Topologies With Two And Three Degrees Of Freedom. Springer, 2009.

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Zimmermann, Klaus, Igor Zeidis, and Carsten Behn. Mechanics of Terrestrial Locomotion: With a Focus on Non-pedal Motion Systems. Springer, 2010.

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Zimmermann, Klaus, Igor Zeidis, and C. Behn. Mechanics of Terrestrial Locomotion: With a Focus on Non-pedal Motion Systems. Springer, 2009.

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Book chapters on the topic "Robotic translation mechanism"

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Hsu, Kuan-Lun, and Yen-Nien Chen. "Disk Cam Mechanisms with a Translating Follower Having Double Oblique Flat Faces." In Robotics and Mechatronics. Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-30036-4_14.

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Liu, Ya, Wenjuan Lu, Jiahao Zeng, Jianhua Cong, Bo Hu, and Daxing Zeng. "Type Synthesis of Six Degrees of Freedom Parallel Mechanism with Decoupled Translation and Rotation." In Intelligent Robotics and Applications. Springer International Publishing, 2022. http://dx.doi.org/10.1007/978-3-031-13844-7_23.

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Shen, Huiping, Tongzhu Yu, Jiaming Deng, Zheng Wang, and Tingli Yang. "Topological Structure Synthesis of 3-Translation Parallel Mechanisms." In Advances in Reconfigurable Mechanisms and Robots I. Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_25.

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Glazunov, V., N. Nosova, and M. Ceccarelli. "Kinematics of a 6 DOFs Manipulator with Interchangeable Translation and Rotation Motions." In Recent Advances in Mechanism Design for Robotics. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-18126-4_39.

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Hernandez, A., Z. Zhang, V. Petuya, E. Macho, and E. Amezua. "Translational Parallel Manipulator with Pa2 Kinematic Joints." In New Advances in Mechanisms, Mechanical Transmissions and Robotics. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45450-4_31.

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Frisoli, A., D. Checcacci, F. Salsedo, and M. Bergamasco. "Synthesis by Screw Algebra of Translating in-Parallel Actuated Mechanisms." In Advances in Robot Kinematics. Springer Netherlands, 2000. http://dx.doi.org/10.1007/978-94-011-4120-8_45.

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Dostrašil, Pavel, and Aleš Richter. "Implementation of Manipulator with Rotary and Translational Axis Using Electronic Cams." In New Advances in Mechanisms, Mechanical Transmissions and Robotics. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60076-1_43.

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Di Gregorio, Raffaele. "Position Analysis of a Novel Translational 3-URU with Actuators on the Base." In New Advances in Mechanisms, Mechanical Transmissions and Robotics. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-60076-1_8.

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Glazunov, Victor, and Sergey Kheylo. "Dynamics and Control of Planar, Translational, and Spherical Parallel Manipulators." In Dynamic Balancing of Mechanisms and Synthesizing of Parallel Robots. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-17683-3_15.

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Gijbels, A., D. Reynaerts, and E. B. Vander Poorten. "Design of 4-DOF Parallelogram-Based RCM Mechanisms with a Translational DOF Implemented Distal from the End-Effector." In Advances on Theory and Practice of Robots and Manipulators. Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_12.

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Conference papers on the topic "Robotic translation mechanism"

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Coleman, David, and Moble Benedict. "System Identification of a Hover-Capable Robotic Hummingbird." In Vertical Flight Society 72nd Annual Forum & Technology Display. The Vertical Flight Society, 2016. http://dx.doi.org/10.4050/f-0072-2016-11359.

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This paper presents the first ever linear system identification of the flight dynamics of a hover-capable robotic hummingbird which utilizes only two wings for flying as well as for all its control and stabilization. The vehicle was developed in-house, using state-of-the-art materials, electronics, and innovative design/fabrication techniques, and a description of its development is provided. Systematic experimental studies were conducted to develop flexible, aeroelastically tailored wings, along with novel wing kinematic modulation mechanisms for controlling roll, pitch and yaw. Additionally,
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Chandrasekaran, Karthik, Adarsh Somayaji, and Asokan Thondiyath. "Realization of a Statically Balanced Compliant Planar Remote Center of Motion Mechanism for Robotic Surgery." In 2018 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/dmd2018-6911.

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Robot assisted minimally invasive surgery helps overcome some of the limitations like limited dexterity, fulcrum effect, and lack of 3D vision in manual laparoscopic procedures [1]. A Remote Centre of Motion (RCM) mechanism is an essential part of tele-operated surgical robots. An RCM mechanism enables a rigid surgical tool to maintain a kinematic constraint about the insertion point on a patient’s body [2]. It permits a surgical tool to pivot only about the insertion point and prevents tool translation about the insertion point [3]. A parallelogram architecture based RCM mechanism is one of t
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Zhang, Xiaoli, and Carl A. Nelson. "Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49163.

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The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for op
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Moubarak, Paul M., Pinhas Ben-Tzvi, Zhou Ma, and Eric J. Alvarez. "Kinematic Synthesis and Dynamic Analysis of the Dual-Rod Slider Rocker Mechanism: An Application to Modular Robotics." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-71200.

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In mechanism theory and design, no work has been reported on the kinematic synthesis and dynamic analysis of the dual-rod slider rocker mechanism. By definition, this system is equivalent to two traditional slider-rocker mechanisms that share a common rocker, where the two sliders translate along two opposite directions of motion. Unlike a single slider-rocker mechanism, the dual-rod-based mechanism exhibits unique kinematic characteristics in which the two sliders do not travel the same distance for the same rocker rotation. This paper presents an optimal analysis that outlines the early inve
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Kumar, Prashant, Wael Saab, and Pinhas Ben-Tzvi. "Design of a Multi-Directional Hybrid-Locomotion Modular Robot With Feedforward Stability Control." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-67436.

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This paper presents the design of a modular robot capable of multi-directional mobility to aid reconfiguration on uneven terrain. Modular reconfigurable robotic systems consist of a large number of self-sufficient modules that can dock and reconfigure to scale locomotion and manipulation capabilities. However, on uneven terrains, reconfigurable robots face challenges due to the requirement of precise alignment between modules during the docking procedure. First, a survey of current modular reconfigurable robots is presented, analyzing their strengths and shortcomings in reconfiguration and mob
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Jiang, Zhujin, and Ketao Zhang. "Reaction Force Analysis and Validation of a Rigid Origami-Inspired Modified Wren Parallel Mechanism With Flexure Hinges." In ASME 2023 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/detc2023-115262.

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Abstract Adopting a screw algebra-based approach, this paper analyzes the stiffness of flexure hinges and the resultant reaction force (RRF) of a rigid origami-inspired modified Wren parallel mechanism with flexure hinges (WPM) capable of helical motion. Analytical solution of the RRF, consisting of force in the direction of translation and torque around the axis of helical motion, applied to the platform of the WPM by flexure hinges is revealed. Simulation is implemented to verify the theoretical analysis of the RRF of the WPM. To further validate the theoretical model, multi-layered aluminiu
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Jiang, Xiaoling, and Clément Gosselin. "Dynamically Feasible Trajectories for Three-DOF Planar Cable-Suspended Parallel Robots." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-34419.

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This paper proposes a trajectory planning technique for planar three-degree-of-freedom cable-suspended parallel robots. Based on the kinematic and dynamic modelling of the architecture, force constraints that can guarantee that cables remain under tension are obtained. Periodic parametric trajectories that extend beyond the static workspace are designed. The trajectories involve combined translations and rotations. Substituting the trajectories into the force constraints, interval arithmetics is used to search for global conditions on the trajectory parameters which ensure that the trajectorie
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Colbrunn, R. W., J. E. Dumpe, T. F. Bonner, J. D. Kolmodin, W. K. Barsoum, and P. M. Saluan. "Robotically Simulated Clinical Pivot Shift: A Better Tool for Analyzing ACL Reconstructions?" In ASME 2013 Summer Bioengineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/sbc2013-14288.

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A pivot shift is a useful exam for evaluating anterior cruciate ligament (ACL) reconstruction surgery. A positive result is a perceived “clunk” and is quantified by the kinematics that occur during the tibial reduction phase. In vitro evaluation of ACL reconstruction techniques includes robotic testing of cadaveric knees where the applied loads represent estimated in situ loads. Early understanding of the mechanism of the pivot shift has resulted in a simplified representation where static “rotary loads” (10Nm valgus torque, 5Nm internal tibial torque) are applied at a few discrete flexion ang
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Behzadipour, Saeed, Robert Dekker, Amir Khajepour, and Edmon Chan. "DeltaBot: A New Cable-Based Ultra High Speed Robot." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41470.

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The growing needs for high speed positioning devices in the automated manufacturing industry have been challenged by robotic science for more than two decades. Parallel manipulators have been widely used for this purpose due to their advantage of lower moving inertia over the conventional serial manipulators. Cable actuated parallel robots were introduced in 1980’s to reduce the moving inertia even further. In this work, a new cable-based parallel robot is introduced. For this robot, the cables are used not only to actuate the end-effector but also to apply the necessary kinematic constraints
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Chen, Gong, Zhao Guo, and Haoyong Yu. "Mechanical Design and Evaluation of a Novel Knee-Ankle-Foot Robot for Rehabilitation." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46229.

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This paper presents the mechanical design and evaluation of a knee-ankle-foot robot, which is compact, modular, and portable for stroke patients to carry out overground gait training at outpatient and home settings. The robot is driven by a novel series elastic actuator (SEA) for safe human-robot interaction. The SEA employs one soft translational spring in series with a stiff torsion spring to achieve high intrinsic compliance and the capacity of providing peak force. The robotic joint mechanism and the selection of the actuator springs are optimized based on gait biomechanics to achieve port
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Reports on the topic "Robotic translation mechanism"

1

Lai, Chin-Ta, and Joel Conte. Dynamic Modeling of the UC San Diego NHERI Six-Degree-of-Freedom Large High-Performance Outdoor Shake Table. Pacific Earthquake Engineering Research Center, University of California, Berkeley, CA, 2024. http://dx.doi.org/10.55461/jsds5228.

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The UC San Diego Large High-Performance Outdoor Shake Table (LHPOST), which was commissioned on October 1, 2004 as a shared-use experimental facility of the National Science Foundation (NSF) Network for Earthquake Engineering Simulation (NEES) program, was upgraded from its original one degree-of-freedom (LHPOST) to a six degree-of-freedom configuration (LHPOST6) between October 2019 and April 2022. The LHPOST6 is a shared-use experimental facility of the NSF Natural Hazard Engineering Research Infrastructure (NHERI) program. A mechanics-based numerical model of the LHPOST6 able to capture the
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