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Parallel topology robot calibration
Robotica, 1997A calibration method for a Stewart platform has been developed as part of a project aimed at developing a calibration method for a Delta robot. The Delta has 3 degrees of freedom (DOF) but is more complex than the Stewart platform for calibration purposes because an extra link is inserted in each kinematic chain between the base and the Nacelle member.
Andrew B. Lintott, Guy Reg Dunlop
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Full and reduced models for the elastodynamics of fully flexible parallel robots
, 2020The elastodynamic analysis of parallel robots still has limitations related to the difficulty of including parts with several input/output nodes. This results in the impossibility of considering fully flexible parallel mechanisms and, therefore, most of ...
A. Cammarata
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Design of parallel robots in microrobotics
Robotica, 1997During the past few years, there has been an increasing demand in the field of precision engineering for fine motion in multi-degrees of freedom systems. These applications motivated the development of a new robotics field called microrobotics. In this paper, we review both the design guidelines for microrobots and the advantages of using parallel ...
Eric Pernette +3 more
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Isoelastic behavior of parallel robots
Robotica, 1989SUMMARYThis paper presents a particular architecture of a parallel robot which is characterized by a diagonal stiffness matrix. This result suggests the use of a parallel robot in the final phase of insertion as a passive compliance device. The stiffness rate of this device is controlled by the gain of the feedback loop.
Francis Artigue +2 more
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An Approach to Formulate the Hessian Matrix for Dynamic Control of Parallel Robots
IEEE/ASME transactions on mechatronics, 2019The Hessian matrix, one of the most pivotal parts in a robotic system's acceleration model, is a prerequisite for dynamic modeling and control of parallel robots. Aimed at providing a straightforward and effective way for modeling, design, and control of
T. Sun, Shuofei Yang
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Dynamic analysis of high precision construction cable-driven parallel robots
Mechanism and Machine Theory, 2019In this paper we propose a modeling strategy for Cable Driven Parallel Robots (CDPRs) that - given their complexity - are typically addressed using simplified analysis, therefore neglecting relevant dynamics.
V. Ferravante +4 more
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A robust adaptive control of a parallel robot
International Journal of Control, 2010The work presented in this article deals with the robust adaptive control tracking of a 6 degree of freedom parallel robot, called C5 parallel robot. The proposed approach is based on the coupling of sliding modes and multi-layers perceptron neural networks (MLP-NNs). It does not require the inverse dynamic model for deriving the control law.
Achili, Brahim +3 more
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Journal of Mechanisms and Robotics, 2019
Parallel robots have been primarily investigated as potential mechanisms with stiffness modulation capabilities through the use of actuation redundancy to change internal preload.
A. Orekhov, N. Simaan
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Parallel robots have been primarily investigated as potential mechanisms with stiffness modulation capabilities through the use of actuation redundancy to change internal preload.
A. Orekhov, N. Simaan
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On the Dynamics of a Class of Parallel Robots
2000Two different approaches to derive the dynamic model of a class of parallel robots are discussed and compared in terms of inverse dynamics computation.
F. CACCAVALE +3 more
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Speech recognition in parallel robots
Proceedings of the 2019 International Conference on Robotics, Intelligent Control and Artificial Intelligence, 2019China's current aging is getting higher and higher. In Shanghai alone, the number of elderly people over 60 years old is close to 8.5 million, of which 4.7% are old people who cannot take care of themselves. In addition, there are a large number of disabled people caused by accidents and diseases.Relying on caregivers alone cannot meet the care needs ...
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