Explicit dynamics of redundant parallel cable robots
Sign Up to like & getrecommendations! Published in 2018 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-018-4476-7
Abstract: Precise model-based control of parallel robots necessitates an analytically accurate and consolidated model of the robotic platform. Lack of accuracy in modeling causes lots of dynamic uncertainties. This fact can result in higher control gains… read more here.
Keywords: control; cable; dynamics redundant; model ... See more keywords
Dynamic analysis of high precision construction cable-driven parallel robots
Sign Up to like & getrecommendations! Published in 2019 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2019.01.023
Abstract: Abstract In 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. Specifically, the finite element… read more here.
Keywords: dynamic analysis; driven parallel; parallel robots; cable driven ... See more keywords
Full and reduced models for the elastodynamics of fully flexible parallel robots
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.103895
Abstract: Abstract The 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… read more here.
Keywords: flexible parallel; reduced models; fully flexible; full reduced ... See more keywords
On The Workspace Optimization of Parallel Robots Based on CAD Approach
Sign Up to like & getrecommendations! Published in 2019 at "Procedia Manufacturing"
DOI: 10.1016/j.promfg.2019.03.065
Abstract: Abstract This paper highlights workspace modeling of two parallel robots based on CAD technique. The algorithm is presented and described for the generation of each workspace, which is implemented in CATIA software. The impact of… read more here.
Keywords: workspace; workspace optimization; parallel robots; approach ... See more keywords
Differential algebraic observer-based trajectory tracking for parallel robots via linear matrix inequalities
Sign Up to like & getrecommendations! Published in 2022 at "International Journal of Systems Science"
DOI: 10.1080/00207721.2022.2043482
Abstract: This paper develops a novel observer-based trajectory tracking technique for parallel robots, modelled as differential algebraic equations, which assumes that only positions are available for control purposes while joint velocities should be estimated. Based on… read more here.
Keywords: based trajectory; trajectory tracking; observer based; linear matrix ... See more keywords
Workspace Computation of Planar Continuum Parallel Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143285
Abstract: Continuum Parallel robots (CPRs) comprise several flexible beams connected in parallel to an end-effector. They combine the inherent compliance of continuum robots with the high payload capacity of parallel robots. Workspace characterization is a crucial… read more here.
Keywords: workspace computation; planar continuum; continuum parallel; parallel robots ... See more keywords
Localization Based on Parallel Robots Kinematics As an Alternative to Trilateration
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2021.3050354
Abstract: In this article, a new scheme for range-based localization is proposed. The main goal is to estimate the position of a mobile point based on distance measurements from fixed devices, called anchors, and on inertial… read more here.
Keywords: based parallel; localization; parallel robots; robots kinematics ... See more keywords
Multiaxis Reaction System (MARS) for Vibration Control of Planar Cable-Driven Parallel Robots
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2019.2906475
Abstract: This paper provides a solution for the problem of uncontrollable modes in planar cable-driven parallel robots. The proposed solution requires the addition of two unbalanced-rotational-inertia actuators to the end-effector. It is demonstrated both analytically and… read more here.
Keywords: planar cable; driven parallel; parallel robots; cable driven ... See more keywords
Kinematic Calibration of Serial and Parallel Robots Based on Finite and Instantaneous Screw Theory
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2020.2969028
Abstract: In current robot calibration approaches, the error propagation and identification of serial and parallel robots fail to be solved intuitively and generically, resulting in an inefficient calibration implementation and a low accuracy improvement. In this… read more here.
Keywords: calibration; kinematic calibration; parallel robots; instantaneous screw ... See more keywords
Singularity Conditions for Continuum Parallel Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2021.3076830
Abstract: Research on continuum parallel robots has been essentially devoted to the computation of their geometricostatic models and of their performance in terms of workspace size, accuracy, compliance, force transmission, and manipulability. Their singularity analysis has… read more here.
Keywords: singularity conditions; conditions continuum; continuum parallel; parallel robots ... See more keywords
Kinematic Modeling and Characterization of Soft Parallel Robots
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3174474
Abstract: Parallel robots with rigid transmission mechanisms have been widely developed to improve the speed, precision, and load capability. However, it is still challenging in promoting soft parallel robots due to the difficulty in accurate kinematic… read more here.
Keywords: characterization; kinematic modeling; parallel robot; model ... See more keywords