... also in conformance with the analysis of the manipulator’s kinematic properties. The developed prototype has confirmed the feasibility of the synthesis and actuation principles outlined above. The proposed manipulator topology can be applied in future manufacturing machines in accordance with different...

... prostate biopsy result in false negative diagnosis, which implies that cancer will go untreated, continue to evolve, and spread if malignant [( 6 )]. binary actuation MRI manipulator pneumatic muscle compliant mechanism biomedical MRI cancer elasticity manipulator kinematics medical...

... using the proposed approach and comparison against the conventional numerical approach is presented. 13 08 2010 03 05 2011 07 07 2011 08 07 2011 manipulator kinematics numerical analysis References 1 Merlet , J.-P. , 2000 , Parallel Robots , Kluwer...

... manipulator kinematics reconfigurable limb synthesis geometric constraint topology configuration mobility change parallel mechanism metamorphic mechanism twist screw system A parallel mechanism represented by the Stewart–Gough [ 1 2 ] type typically consists of a rigid...

... 31 01 2010 30 03 2010 30 03 2010 displacement control Lie algebras linear systems manipulator kinematics motion control screw theory mobility Lie product Lie bracket twist vector motion screw exponential map Baker–Campbell–Hausdorff Recent papers ( 1 2 3...

... the design space that can provide all possible optimum solutions for a requirement. The optimal design concept introduced in this paper can be applied to other parallel manipulators. 14 08 2009 10 01 2010 11 03 2010 11 03 2010 design end effectors manipulator kinematics...

... nonlinear finite element analysis, then a simulation based method, and finally an experimental method. The experimental setup is constructed based on a reverse engineering concept to validate the theory and to confirm the simulation results. control system synthesis finite element analysis manipulator...

... and ν p throughout the RDW of M 1 , M 2 , M 3 , and M 4 30 01 2009 05 10 2009 10 11 2009 10 11 2009 algebra dexterous manipulators manipulator kinematics position control sensitivity analysis Variations...

... CRCM 03 11 2008 13 05 2009 07 10 2009 manipulator dynamics manipulator kinematics Dynamic balance is an important property for manipulators. It reduces noise, wear, and fatigue ( 1 ), and allows manipulators to have both low cycle times and high accuracy since...

... locomotion manipulator dynamics manipulator kinematics telerobotics mobile robots tele-operative locomotion mechanisms control architecture slippage estimation Mobile manipulators, which consist of a platform and one or more manipulators, have an unlimited workspace. Therefore, various...

... cables (mechanical) manipulator kinematics Cable-driven manipulators have been widely investigated in robotic applications for their unique advantages such as low inertia and light weight, simplicity in construction, large ranges of motion, scalability, easy assembly, and transportation. Several...

.... geometry manipulator kinematics optimisation In this paper a numeric example of workspace calculation is also presented. In this case the direct position problem is solved by an iterative method for each given combination of actuated pairs. The calculation verified the absence of singular...

... objects, as well as for stabilization and power efficiency when bending is not necessary. The split locking mechanism represents a biologically inspired structure with added strength and stability for use in robotics. joining processes manipulator kinematics manipulators robotic assembly...

... on Robotics (ISR) , Tokyo, Japan , Nov. 29–Dec. 1. Briot , S. , 2007 , “ Analyze and Optimization of a New Class of Parallel Manipulators With Decoupled Motions ,” Ph.D. thesis, INSA of Rennes. 06 12 2007 21 05 2008 21 10 2008 actuators manipulator kinematics...

... in Fig. 7a . control system synthesis finite element analysis genetic algorithms graph theory grippers industrial manipulators manipulator kinematics 09 10 2007 13 06 2008 30 09 2008 Howell , L. L. , and Midha , A. , 1996 , “ A Loop-Closure Theory...

... arms. CAD computer aided analysis control engineering computing control system synthesis interpolation manipulator kinematics motion control splines (mathematics) The existing works on Cartesian motion planning, such as the ones by Horsch and Jüttler ( 17 ) and Wagner and Ravani...

.... , 1988 , “ Kinematics of Spatial Linkages by Group Algebra: A Structure-Based Approach ,” Mech. Mach. Theory 0094-114X 10.1016/0094-114X(88)90102-4 , 23 , pp. 171 – 183 . control system analysis control system synthesis manipulator kinematics One of the most important problems...

.../02783649922066394 , 18 ( 6 ), pp. 556 – 574 . manipulator kinematics Gough–Stewart platform singularity equation minimal set of geometric parameters Parallel mechanisms possess significant advantages over serial mechanisms in terms of dynamic properties, load-carrying capacity, high...

... deformation Jacobian matrices manipulator kinematics Currently, various 3–5DOF parallel kinematic machines (PKMs) have attracted much attention due to their fewer active legs, large workspace, simple structure, easy control, and simpler kinematc solutions ( 1 2 3 4 ). Stiffness is one of the most...

... 2007 29 05 2008 09 09 2008 manipulator kinematics medical robotics microrobots mobile robots surgery robotic surgery needlescopy parallel mechanisms compliant mechanisms In recent years trends in medicine to minimize hospitalization time and reduce postoperative...