Optimal adaptive barrier-function super-twisting nonlinear global sliding mode scheme for trajectory tracking of parallel robots. [PDF]
Heliyon, 2023 Compared to serial robots, parallel robots have potential superiorities in rigidity, accuracy, and ability to carry heavy loads. On the other hand, the existence of complex dynamics and uncertainties makes the accurate control of parallel robots ...
Barghandan M +3 more
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A digital design framework for the dimensional optimization of parallel robots based on kinematic and elasto-dynamic performance. [PDF]
Sci RepThe dimensional optimization based on kinematic and dynamic performance indices is proven significant for improving the operational performance of parallel robots.
Ma Y +7 more
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Cable-Driven Parallel Robot Actuators: State of the Art and Novel Servo-Winch Concept
Actuators, 2022 Cable-Driven Parallel Robots (CDPRs) use cables arranged in a parallel fashion to manipulate an end-effector (EE). They are functionally similar to several cranes that automatically collaborate in handling a shared payload.
Edoardo Idà, Valentina Mattioni
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Type Synthesis Method for Parallel Robots With Special Topologies
IEEE Access, 2023 This contribution presents a type synthesis method for parallel robots with special topologies. First, we defined the constraint-incidence matrix (CIM) to describe serial chains by utilizing the geometric properties of screw theory, revealing the motion ...
Hongpeng Chu +3 more
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Modeling and Experimental Study of a Novel Multi-DOF Parallel Soft Robot
IEEE Access, 2020 In view of the demand for flexible drive and large load of the soft robot in the practical application, a novel type of flexible-actuated multi-degree-of-freedom (multi-DOF) parallel soft robot is designed.
Jie Zhang +6 more
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Kernel extreme learning machine‐based general solution to forward kinematics of parallel robots
CAAI Transactions on Intelligence Technology, 2023 The forward kinematics of parallel robots is a challenging issue due to its highly coupled non‐linear relation among branch chains. This paper presents a novel approach to forward kinematics of parallel robots based on kernel extreme learning machine ...
Jun Ma, Xuechao Duan, Dan Zhang
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New Frontiers in Parallel Robots
Machines, 2023 In the field of parallel robots, marked by the birth and application of the Gough–Stewart parallel mechanism [...]
Zhufeng Shao, Dan Zhang, Stéphane Caro
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Kinematics and workspace analysis of a 3DOF parallel reconfigurable robot [PDF]
مجله مدل سازی در مهندسی, 2000 Parallel robots are widely used in many industrial and medical applications. Reconfigurable parallel robots could be defined as a group of parallel robots that can have different geometries, thus obtaining different degrees of freedom derived from the ...
Mohammad Reza Salehi Kolahi +3 more
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Velocity Constraints Based Approach for Online Trajectory Planning of High-Speed Parallel Robots
Chinese Journal of Mechanical Engineering, 2022 High-speed parallel robots have been extensively utilized in the light industry. However, the influence of the nonlinear dynamic characteristics of high-speed parallel robots on system’s dynamic response and stable operation cannot be ignored during the ...
Di Yang, Fugui Xie, Xinjun Liu
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IEEE Access, 2021 The present paper presents a newly designed dexterous mobile parallel mechanism for fusion reactor vacuum vessel assembly, the robot system has advantages in terms of compact design, the capability to carry out heavy-duty machining tasks, evacuation, and
Changyang Li +2 more
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