Results 21 to 30 of about 79 (62)
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Enhanced Dynamic Capability of Cable-Driven Parallel Manipulators by Reconfiguration
Robotica, 2021SUMMARYCable-driven parallel manipulators (CDPMs) offer advantages over traditional parallel manipulators. Though their ability to accelerate is higher than the traditional motion platforms, the capabilities are often not used optimally. The issues of cable slackening (especially at higher accelerations) and the emergence of singularity poses have ...
Rajesh Kumar, Sudipto Mukherjee 0003
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Manipulator inverse dynamics computation on FPGA for reconfigurable applications
2010 IEEE International Conference on Automation Science and Engineering, 2010Reconfigurability and flexibility are often desired characteristics in an automatic system whose capability needs to be changed from time to time to meet the need of its operation. In this study, a Hardware Description Language (HDL) software core for joint torques/forces computation for an n-joint general purpose manipulator is designed. This HDL core
Chun-Shin Lin +2 more
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Design, kinematic and dynamic studies of a reconfigurable parallel manipulator
Proceedings of the 2015 Conference on Advances In Robotics, 2015This work presents the geometric design, kinematic and dynamic analysis of modular reconfigurable parallel manipulator having revolute, prismatic and spherical pairs. The proposed manipulator can reconfigure into nine different structural forms from an unconstrained-active to a constrained-passive state by means of hybrid active/passive motors.
K. V. Varalakshmi, J. Srinivas
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Dynamic Balancing of Parallel Manipulators Through Reconfiguration
Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, 2015When parallel manipulators move, due to the fact that the center of mass (CoM) of the system is not fixed and its angular momentum is not constant, vibration is usually produced in the system, which greatly affects the accuracy performance. Dynamic balance can be achieved by using counterweights and counter-rotations, but the whole system will become ...
Dan Zhang, Bin Wei
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Operational space dynamics for modular reconfigurable manipulators
2017 12th IEEE Conference on Industrial Electronics and Applications (ICIEA), 2017A modular reconfigurable manipulator (MRM) system consists of an inventory of standardized joint and link modules that can be assembled into different manipulator configurations. This paper mainly focuses on the formulation of operational space dynamics for a MRM system.
Yongchao Wang +4 more
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Towards Dynamics and Control of Modular Reconfigurable Manipulators
Proceedings of the Advances in Robotics 2019, 2019This paper focuses at the dynamic modeling of a modular reconfigurable manipulators. Dynamic model of the manipulator changes with each reconfigured posture and therefore, control implication on this type of robotic arm changes. Adaptability of the dynamic model and controller to incorporate this change is a challenge.
Anubhav Dogra +2 more
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Design of a Dynamically Reconfigurable 3T1R Parallel Kinematic Manipulator
2018 International Conference on Reconfigurable Mechanisms and Robots (ReMAR), 2018In this paper, the design of a 3T1R (three translations and two rotations) reconfigurable parallel robot using screw theory to define constraints within the limbs is presented. The design is based on the current architecture of a 3T parallel robot and applies screw theory to add two extra rotations through type synthesis of a reconfigurable moving ...
De Dios Flores-Mendez, Juan +3 more
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Dynamic analysis of reconfigurable fixture construction by a manipulator
Robotics and Computer-Integrated Manufacturing, 2001Abstract In a reconfigurable workholding system, the precise manipulation of fixture mechanisms by robot manipulators is performed against external kinematic constraints. Automation of such tasks requires development of dynamic model that can be utilised for establishment of control strategies.
Yongling Shen, Bijan Shirinzadeh
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Dynamic coordination of a self-reconfigurable manipulator system
[1991] Proceedings of the 30th IEEE Conference on Decision and Control, 2002The authors present the dynamic coordination of a self-reconfigurable manipulator system capable of changing its mechanical structure according to given task requirements. The self-reconfiguration is achieved by reconfiguring the topology of a dual-arm system through serial, parallel, and bracing structures. Particular emphasis is placed on the dynamic
S. Kim, S. Lee
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Journal of Applied Physics, 2023
A broadband reconfigurable metasurface consisting of perpendicular metallic gratings and a PIN diode-driven split circular ring for polarization and propagation modes control is demonstrated. The designed metasurface possesses tunable properties in two propagation modes.
Jianing Yang +4 more
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A broadband reconfigurable metasurface consisting of perpendicular metallic gratings and a PIN diode-driven split circular ring for polarization and propagation modes control is demonstrated. The designed metasurface possesses tunable properties in two propagation modes.
Jianing Yang +4 more
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