Relevant bibliographies by topics / Robots Robots Manipulators (Mechanism)

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

Academic literature on the topic 'Robots Robots Manipulators (Mechanism)'

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

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Journal articles on the topic "Robots Robots Manipulators (Mechanism)"

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Yamada, Hiroya, and Shigeo Hirose. "Development of Practical 3-Dimensional Active Cord Mechanism ACM-R4." Journal of Robotics and Mechatronics 18, no. 3 (June 20, 2006): 305–11. http://dx.doi.org/10.20965/jrm.2006.p0305.

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Despite the many studies on snake-like robots and long, thin super-redundant manipulators targeting their potential applications in complex environments, e.g., containing obstacles such as water and/or dust that impede robot movement, most have limited their investigation to robot maneuverability within the laboratory and few have attempted to develop robots in practical environments. We propose a practical, dust- and water-proof snake-like robot and its prototype. We start by discussing the practical functions required and the mechanism developed. We then discuss joint control and an experiment testing the prototype.
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Bergerman, Marcel, and Yangsheng Xu. "Robust Joint and Cartesian Control of Underactuated Manipulators." Journal of Dynamic Systems, Measurement, and Control 118, no. 3 (September 1, 1996): 557–65. http://dx.doi.org/10.1115/1.2801180.

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Underactuated manipulators are robot manipulators composed of both active and passive joints in serial chain mechanisms. The study of underactuation is significant for the control of a variety of rigid-body systems, such as free-floating robots in space and gymnasts, whose structure include passive joints. For mechanisms with large degrees of freedom, such as hyper-redundant snake-like robots and multi-legged machines, the underactuated structure allows a more compact design, weight decrease, and energy saving. Furthermore, when one or more joints of a standard manipulator fail, it becomes an underactuated mechanism; a control technique for such system will increase the reliability and fault-tolerance of current and future robots. The goal of this study is to present a robust control method for the control of underactuated manipulators subject to modeling errors and disturbances. Because an accurate modelling of the underactuated system is more critical for control issues than it is for standard manipulators, this method is significant in practice. Variable structure controllers are proposed in both joint space and Cartesian space, and a comprehensive simulation study is presented to address issues such as computation, robustness, and feasibility of the methods. Experimental results demonstrate the actual applicability of the proposed methods in a real two-degrees-of-freedom underactuated manipulator. As it will be shown, the proposed variable structure controller provides robustness againstboth disturbances and parametric uncertainties, a characteristic not present on previously proposed PID-based schemes.
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Xu, Kai, Jiangran Zhao, and Xidian Zheng. "Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port." Robotica 33, no. 10 (April 29, 2014): 2025–44. http://dx.doi.org/10.1017/s0263574714000976.

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SUMMARYMany recent developments of surgical robots focus on less invasive paradigms, such as laparoscopic SPA (Single Port Access) surgery, NOTES (Natural Orifice Translumenal Endoscopic Surgery), laryngoscopic MIS (Minimally Invasive Surgery), etc. A configuration similarity shared by these surgical robots is that two or more manipulators are inserted through one access port (a laparoscope, an endoscope, or a laryngoscope) for surgical interventions. However, upon designing such a surgical robot, the structure of the inserted manipulators has not been thoroughly explored based on evaluation of their performances. This paper presents a comparison for kinematic performances among three different continuum manipulators. They all could be applied in the aforementioned surgical robots. The structural parameters of these continuum manipulators are firstly optimized to assure a more fair and consistent comparison. This study is conducted in a dimensionless manner and provides scalable results for a wide spectrum of continuum manipulator designs as long as their segments have a constant curvature. The results could serve as a design reference for future developments of surgical robots which use one access port and continuum mechanisms.
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Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector." Machines 9, no. 1 (January 11, 2021): 7. http://dx.doi.org/10.3390/machines9010007.

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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.
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Marchi, Tommaso, Giovanni Mottola, Josep M. Porta, Federico Thomas, and Marco Carricato. "Position and Singularity Analysis of a Class of Planar Parallel Manipulators with a Reconfigurable End-Effector." Machines 9, no. 1 (January 11, 2021): 7. http://dx.doi.org/10.3390/machines9010007.

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Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid links. These robots have a greater flexibility in their motion and control with respect to rigid-platform parallel architectures, but their kinematics is more challenging to analyze. In our work, we consider n-RRR planar configurable robots, in which the end-effector is a chain composed of n links and revolute joints, and is controlled by n rotary actuators located on the base of the mechanism. In particular, we study the geometrical design of such robots and their direct and inverse kinematics for n=4, n=5 and n=6; we employ the bilateration method, which can simplify the kinematic analysis and allows us to generalize the approach and the results obtained for the 3-RRR mechanism to n-RRR robots (with n>3). Then, we study the singularity configurations of these robot architectures. Finally, we present the results from experimental tests that have been performed on a 5–RRR robot prototype.
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Pastor, Robert, Zdenko Bobovský, Daniel Huczala, and Stefan Grushko. "Genetic Optimization of a Manipulator: Comparison between Straight, Rounded, and Curved Mechanism Links." Applied Sciences 11, no. 6 (March 10, 2021): 2471. http://dx.doi.org/10.3390/app11062471.

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There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher efficiency with custom optimized manipulators. Many studies have focused on finding the most efficient optimization algorithm for task-based robot manipulators. These manipulators, however, are usually optimized from simple modular joints and links, without exploring more elaborate modules. Here, we show that link modules defined by small numbers of parameters have better performance than more complicated ones. We compare four different manipulator link types, namely basic predefined links with fixed dimensions, straight links that can be optimized for different lengths, rounded links, and links with a curvature defined by a Hermite spline. Manipulators are then built from these modules using a genetic algorithm and are optimized for three different tasks. The results demonstrate that manipulators built from simple links not only converge faster, which is expected given the fewer optimized parameters, but also converge on lower cost values.
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Gong, Jin Liang, Yan Fei Zhang, and Xiu Ting Wei. "Types Synthesis of Redundant Actuation Parallel Robot." Advanced Materials Research 219-220 (March 2011): 953–56. http://dx.doi.org/10.4028/www.scientific.net/amr.219-220.953.

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Redundant parallel robots have been under increasing developments from a theoretical view point as well as for practical applications. Compared with the traditional parallel manipulators, they have such merits of more load, faster speed and higher accuracy. The method about how to build up redundant actuation parallel robot is introduced. Considering that the kinematic joint and limb are basic elements to constitute a proper parallel robot mechanism, special Plücker coordinates is adopted to describe the displacements of the output link of a limb or the robot mechanism. Then the principle for design of the redundant actuation parallel robot mechanisms is presented and example of the 2RRR&2PP parallel robot mechanism is brought forth and analyzed by this method.
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Mansouri, Imed, and Mohammed Ouali. "QUATERNION REPRESENTATION OF THE POWER MANIPULABILITY." Transactions of the Canadian Society for Mechanical Engineering 35, no. 2 (June 2011): 309–36. http://dx.doi.org/10.1139/tcsme-2011-0018.

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In this paper, a quaternion formulation of the power manipulability is developed. Quantifying the mechanical transmissibility of a mechanism, this parameter was previously introduced as a new homogeneous performance index of robot manipulators; however, its evaluation requires complex manipulations, particularly those of quadri-vectors. Furthermore, the quadri-vector form fits exactly with the structure of quaternions. Hence, a quaternion based method may be useful for power performance indices evaluation. It will be shown that this method leads to a recursive algorithm that manipulates kinematics’ parameters as matrices defined over the real quaternion space. Therefore, a new mostly simplified procedure is elaborated, which is suitable to robots performance analysis related issues. The resultant algorithm is largely simpler and more efficient to evaluate the power based performance indices.
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Zhao, Jiang Hai, Xiao Dong Ye, and Wen Huan Qian. "Research on Kinematic Modeling of Octopus-Like Arm Manipulator Composed with Mixed Joints." Applied Mechanics and Materials 461 (November 2013): 278–83. http://dx.doi.org/10.4028/www.scientific.net/amm.461.278.

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Due to the space constraints and obstacles, the traditional industrial manipulator is too difficult to achieve some tasks, such as the gluing for the wing bulkhead of the aircraft and the maintenance for cooling pipes of the nuclear power plant, etc. Continuum manipulator, inspired by the trunk and the tentacle, proves to be very effective for above-mentioned tasks. A novel octopus-like biomimetic robots, is proposed in this paper, which is consisting of continuum joints and discrete joints, and provide a host of benefits, such as the large space of movement, the high flexibility and the heavy load. A novel analytical approach for solving kinematics of the octopus-like arm manipulator with mixed joints is presented in this paper. Based on the bionic mechanism of the continuum manipulator constructed from mixed joints, the robot configuration is established. In this paper, we present a detailed formulation and explanation of a novel kinematic model for the continuum robots with mixed joints. The modeling method based on the Denavit–Hartenberg parameters(also called DH parameters) is used to depict the motion of robot. The robot is comprised of the continuum joint and the rotated joint, so the kinematic model of continuum joint is crucial for constructing that of the whole robot. The continuum joint is equivalent to a section of elastic body, whose D-H parametors can be obtain from the constant-curvature method. Then the forward kinematics of the whole robot can be builded in a D-H frame. Research results will create a new modeling method for the octopus-like continuum manipulators with mixed joints, which can give a new approach for the design on the biomimetic manipulators operating in the unstructured envirement.
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Wampler, Charles W. "Displacement Analysis of Spherical Mechanisms Having Three or Fewer Loops." Journal of Mechanical Design 126, no. 1 (January 1, 2004): 93–100. http://dx.doi.org/10.1115/1.1637653.

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Spherical linkages, having rotational joints whose axes coincide in a common center point, are sometimes used in multi-degree-of-freedom robot manipulators and in one-degree-of-freedom mechanisms. The forward kinematics of parallel-link robots, the inverse kinematics of serial-link robots and the input/output motion of single-degree-of-freedom mechanisms are all problems in displacement analysis. In this article, loop equations are formulated and solved for the displacement analysis of all spherical mechanisms up to three loops. We show how to solve each mechanism type using either a formulation in terms of rotation matrices or quaternions. In either formulation, the solution method is a modification of Sylvester’s elimination method, leading directly to numerical calculation via standard eigenvalue routines.
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Dissertations / Theses on the topic "Robots Robots Manipulators (Mechanism)"

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Ng, Kam-seng. "Multiagent joint control for multi-jointed redundant manipulators." Click to view the E-thesis via HKUTO, 2005. http://sunzi.lib.hku.hk/hkuto/record/B32046595.

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Lloyd, John 1958. "Implementation of a robot control development environment." Thesis, McGill University, 1985. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65343.

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Xu, Jijie. "Towards better grasping and manipulation by multifingered robotic hand /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20XU.

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Liu, Guanfeng. "Synthesis of dextrous manipulation by multifingered robotic hands /." View Abstract or Full-Text, 2003. http://library.ust.hk/cgi/db/thesis.pl?ELEC%202003%20LIU.

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Grosser, Karen Erica. "Input shaping for telerobotic manipulators." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/21428.

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Tsai, Ming-June. "Workspace geometric characterization and manipulability of industrial robots." Connect to resource, 1986. http://rave.ohiolink.edu/etdc/view.cgi?acc%5Fnum=osu1260297835.

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Maliotis, Gregorios N. "Adaptive control of partially known robotic manipulators." Diss., Georgia Institute of Technology, 1990. http://hdl.handle.net/1853/15871.

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Cheung, Wing-fung Jacob. "Kinematics, dynamics and control of high precision parallel manipulators." Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B37907116.

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Ward, Keith Ronald. "Pseudo joint damping for reactive control of a mobile manipulator." Thesis, Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/17634.

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Thong, Woon Kong. "The calibration of a robotic workstation /." Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65344.

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Books on the topic "Robots Robots Manipulators (Mechanism)"

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Robotics: State of the art and future trends. Hauppauge, N.Y: Nova Science Publishers, 2011.

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Kamal, Youcef-Toumi, ed. Direct-drive robots: Theory and practice. Cambridge, Mass: MIT Press, 1987.

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Todd, D. J. Walking machines: An introduction to legged robots. New York: Chapman and Hall, 1985.

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Todd, D. J. Walking machines: An introduction to legged robots. New York: Chapman and Hall, 1985.

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Walking machines: An introduction to legged robots. London: Kogan Page, 1985.

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1937-, Duffy Joseph, ed. Kinematic analysis of robot manipulators. Cambridge, U.K: Cambridge University Press, 1998.

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Todd, D. J. Fundamentals of robot technology: An introduction to industrial robots, teleoperators, and robot vehicles. New York: Wiley, 1986.

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Fundamentals of robot technology: An introduction to industrial robots, teleoperators and robot vehicles. London: Kogan Page, 1986.

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Duffy, Joseph, and III Carl D. Crane. Kinematic Analysis of Robot Manipulators. Cambridge: Cambridge University Press, 1998.

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D, Stokić, and Kirćanski N. 1953-, eds. Non-adaptive and adaptive control of manipulation robots. Berlin: Springer-Verlag, 1985.

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Book chapters on the topic "Robots Robots Manipulators (Mechanism)"

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Wenger, Philippe. "Cuspidal Robots." In Singular Configurations of Mechanisms and Manipulators, 67–99. Cham: Springer International Publishing, 2019. http://dx.doi.org/10.1007/978-3-030-05219-5_3.

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Sholanov, Korganbay Sagnayevich. "Determination of the Number of Degrees-of-Freedom of Mechanisms Using Reference System Imaging." In Parallel Manipulators of Robots, 33–52. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-56073-7_3.

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Sholanov, Korganbay Sagnayevich. "Analytical Description of the Links of Spatial Mechanisms and Manipulators by Redundant Parameters Method." In Parallel Manipulators of Robots, 53–64. Cham: Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-56073-7_4.

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Nevala, K., and T. Leinonen. "Discrete Calculation of Set Points in Mechanism Motion Control." In Theory and Practice of Robots and Manipulators, 49–56. Vienna: Springer Vienna, 1995. http://dx.doi.org/10.1007/978-3-7091-2698-1_5.

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Li, Haiyang, Qiaoling Meng, Guangbo Hao, Shujun Li, Yunpeng Gong, and Yong Zhao. "Compliant Mechanism Based Backbones for Continuous Manipulators and Robots." In Mechanisms and Machine Science, 365–75. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-15-0142-5_36.

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Zottola, M., and M. Ceccarelli. "Underactuated Finger Mechanism for LARM Hand." In Advances on Theory and Practice of Robots and Manipulators, 283–91. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_32.

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Djoldasbekov, U. A., L. I. Slutskii, and J. J. Baigunchekov. "Manipulation Devices Based on High-class Mechanisms." In Theory and Practice of Robots and Manipulators, 313–19. Boston, MA: Springer US, 1985. http://dx.doi.org/10.1007/978-1-4615-9882-4_34.

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Li, Shujun, Hongguang Wang, Shichao Xiu, Xiaopeng Li, and Zhaohui Ren. "Moving Mechanism Design and Analysis of Suspension Insulator Inspection Robot." In Advances on Theory and Practice of Robots and Manipulators, 93–101. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_11.

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Xu, Yundou, Shasha Zhou, Jiantao Yao, and Yongsheng Zhao. "Rotational Axes Analysis of the 2-RPU/SPR 2R1T Parallel Mechanism." In Advances on Theory and Practice of Robots and Manipulators, 113–21. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_13.

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Borisenko, I., F. Chernousko, and T. Figurina. "Quasi-Static Motions of a Three-Body Mechanism Along a Plane." In Advances on Theory and Practice of Robots and Manipulators, 175–79. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_20.

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Conference papers on the topic "Robots Robots Manipulators (Mechanism)"

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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 to provide three pure translational degrees of freedom. In order to maintain tension in the cables, a passive air cylinder is used to push the end-effector against the stationary platform. In addition to low moving inertia, the new design benefits from simplicity and low manufacturing cost by eliminating joints from the robot’s mechanism. The design procedure and the results of experiments will be discussed in the following.
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Johnson, Andrew, and Xianwen Kong. "Determination of the Workspace of Parallel Manipulators Using a CAD Software and the Concept of Virtual Chains." In ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/detc2013-12586.

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Development of a new parallel manipulator can be very time consuming due to the traditional method of producing kinematic, dynamic and static calculation models and then evaluating them to determine aspects of the manipulator’s performance indices such as the mechanism’s workspace and singularity analysis. By extending the virtual chain approach to the type synthesis of parallel manipulators, this paper proposes a virtual-chain approach to the workspace analysis of parallel manipulators. This method is illustrated by producing and evaluating the workspace of several parallel robots including the well known DELTA robot by utilising the three-dimensional CAD software SolidWorks to produce a virtual prototype of a manipulator with an embedded virtual chain. The virtual chain represents the motion pattern of a manipulator’s end-effector and is very useful in the production of a graphical representation of the workspace of the manipulator. Using this approach, the link interferences and transmission indices can be easily taken into consideration in determining the workspace of a parallel manipulator.
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Balkan, Tuna, M. Kemal Özgören, M. A. Sahir Arikan, and H. Murat Baykurt. "An Analytical Inverse Kinematics Solution Method for Robotic Manipulators." In ASME 2000 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2000. http://dx.doi.org/10.1115/detc2000/mech-14135.

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Abstract In this study, an inverse kinematic solution approach applicable to six degree-of-freedom industrial robotic manipulators is introduced. The approach is based on a previously introduced kinematic classification of industrial robotic manipulators by Balkan et al. (1999), and depending on the kinematic structure, either an analytical or a semi-analytical inverse kinematic solution is obtained. The semi-analytical method is named as the parametrized joint variable (PJV) method. Compact forward kinematic equations obtained by utilizing the properties of exponential rotation matrices. In the inverse kinematic solutions of the industrial robots surveyed in the previous study, most of the simplified compact equations can be solved analytically and the remaining few of them can be solved semi-analytically through a numerical solution of a single univariate equation. In these solutions, the singularities and the multiple configurations of the manipulators can be determined easily. By the method employed in this study, the kinematic and inverse kinematic analysis of any manipulator or designed-to-be manipulator can be performed and using the solutions obtained, the inverse kinematics can also be computerized by means of short and fast algorithms. As an example for the demonstration of the applicability of the presented method to manipulators with closed-chains, ABB IRB2000 industrial robot is selected which has a four-bar mechanism for the actuation of the third link, and its compact forward kinematic equations are given as well as the inverse kinematic solution.
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She, Yu, Hai-Jun Su, and Carter J. Hurd. "Shape Optimization of 2D Compliant Links for Design of Inherently Safe Robots." 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/detc2015-46622.

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In this paper, we represent a preliminary work towards the design of compliant mechanisms for human safe co-robots. We developed a shape optimization framework for design of planar compliant links for inherently safe robotic manipulators. It is well known intentionally introducing compliance to mechanical design can increase safety of robots. However traditional approaches such as elastic joints or uniform compliant links, were either at the cost of significantly reduced performance or with increased extra complexity and cost. Here, we propose a novel method to design compliant robotic links with a safety constraint which is quantified by Head Injury Criterion (HIC). The robotic links are modeled as a 2D beam with a variable width. Given a safety threshold i.e. HIC constraint, the width of the beam is optimized to give a uniform distribution of HIC along the longitudinal direction of the link. Links with a uniform HIC distribution have a better control performance. Finally, this solution is validated by an huamn-robot impact simulation program built in Matlab.
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Jawale, H. P., and H. T. Thorat. "Positional Accuracy Analysis in Serial Chain and Four-Bar Closed Chain Manipulator." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-37375.

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Serial chain robots are integral part of industrial automation. Better reach within workspace, higher Degree of Freedom (DoF), flexibility and positional accuracy are credit performance features behind its wide acceptance. The flexibility and higher DoF of this configuration is underutilized, when it is used for a repetitive task in hard automation. The present paper considers application of closed chain four-bar mechanism as substitute of a serial chain robot for repetitive task involving single trajectory generation. The manipulators are modelled for positional accuracy under the influence of joint clearances and drive backlash. The positional error in both manipulators for a coupler point on sample path is estimated. The manipulators are considered to operate with identical input constraints. The error is expressed in terms of dimensionless number-as Error Index to estimate the comparative behaviour of the manipulators. The paper presents method of analysing the performance of a closed chain manipulator over serial robot.
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Seow, Chi Min, Wei Jian Chin, and Carl A. Nelson. "Robot Kinematic Design Studies for Natural Orifice Surgery." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47961.

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This paper presents kinematic aspects of a multifunctional robotic manipulator for use in natural orifice surgery. A literature review of some existing surgical robots is presented. The robot folding configurations for insertion/removal are described. The kinematics and workspace of the robotic manipulator and their application in a space-constrained environment are explored as well. The main goal is to find out the best way to fully utilize limited degrees of freedom in the robot arms local to the surgical site as well as additional motions provided by the hyper-redundant, underactuated articulated drive mechanism, in order to provide the dexterity and workspace required for typical surgical interventions.
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Pennock, G. R., and B. S. Ryuh. "Dynamic Analysis of Two Cooperating Robots." In ASME 1987 Design Technology Conferences. American Society of Mechanical Engineers, 1987. http://dx.doi.org/10.1115/detc1987-0064.

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Abstract The use of a computer-controlled multirobot system with sensors in batch manufacturing and assembly tasks offers a number of significant advantages. These include cost savings, reliability, tolerance of working environments unacceptable to humans, and an adaptability to both structured and unstructured environments through simple reprogramming. The end results are improved productivity, efficiency, and flexibility in manufacturing and automation. However, the use of two or more cooperating robots has not been fully exploited to date. Current industrial practice employs simple time-space coordination which does not allow more than one robot working in a common workspace, such coordination and control results in under-utilization of robots. With the increasing demand for high performance manipulators and efficient multirobot manufacturing cells, there is a vital need to develop theoretical and design methodologies that will solve the generic problems faced by industrial robots working cooperatively. If multirobot systems are to be used in manufacturing and assembly tasks, a thorough knowledge of the dynamics of such systems is essential. This paper formulates the dynamics of two robots cooperating to move a rigid body object. The analysis is based on Newtonian mechanics with screw calculus and dual transformation matrices.
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8

Pyatnitskiy, Ye S. "The minimax principle of mechanics and its application to the optimal control problem for robot manipulators." In Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. IEEE, 1991. http://dx.doi.org/10.1109/icar.1991.240436.

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Ramadoss, Vishal, Darwin Lau, Dimiter Zlatanov, and Matteo Zoppi. "Analysis of Planar Multilink Cable Driven Robots Using Internal Routing Scheme." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22502.

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Abstract The multilink cable driven robot (MCDR) is an extension of the cable robots where the moving platform is replaced by a multibody chain. It is typically an open-chain structure with multiple links and complex cable routing. This design introduces the advantages of having a serial kinematic structure and preserves the benefits associated with cable-driven parallel mechanism. To achieve a minimum number of actuating cables while possessing a large workspace region, a novel internal cable routing scheme is proposed. It is shown that by incorporating internal routing with multi-segment cables, any serial chain with n degrees of freedom can be controlled with n + 1 cables. In this work, through studying the kinematics and statics, we demonstrate how internally-routed cable actuation of multilink manipulators have an increased workspace and reduced cable forces to execute trajectories.
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Maaß, Jochen, Jens Steiner, Ana Amado, Michaela Huhn, Annika Raatz, and Ju¨rgen Hesselbach. "Self Management in a Control Architecture for Parallel Kinematic Robots." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49881.

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Maintainability, extendibility and reusability of components in the design of robot control architectures is a major challenge. Parallel kinematic robots feature a wide variety of structures and applications. They are subject to easy reconfiguration because of the passive structure limbs. This class of robots requires more extensive calculations in their control laws than serial manipulators. During complex motion tasks, such as the ones required in assembly sequences, the algorithmic load may also vary over time. However, no generic control approach exists in order to reduce the complexity of control design for these kind of robots. In this paper the authors introduce an architecture for handling and assembly applications featuring self-management techniques as an approach to tackle these problems. The existing architecture features a modular and layered design. Concepts of self-management and self-optimization applied to this architecture are outlined. These properties are realized by the integration of self-managers within crucial system components. The mechanisms are extended for a future distributed version of the architecture. Real-time properties are guaranteed by an online formal analysis that verifies planned adaptations before realizing them.
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