Stability Analysis of a Visual PID Controller Applied to a Planar Parallel Robot
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Control, Automation and Systems"
DOI: 10.1007/s12555-018-0178-7
Abstract: This work analyses the stability of a standard PID controller fed by measurements provided by a vision system, and applied to a planar parallel redundant manipulator for constant set point tracking. The stability analysis considers… read more here.
Keywords: planar parallel; pid controller; applied planar; stability ... See more keywords
Time-dependent system kinematic reliability analysis for planar parallel manipulators
Sign Up to like & getrecommendations! Published in 2020 at "Mechanism and Machine Theory"
DOI: 10.1016/j.mechmachtheory.2020.103939
Abstract: Abstract Time-dependent system kinematic reliability of the planar parallel manipulator refers to the probability of the pose error falling into the allowable safe region over the whole specified trajectory, which is essential for its work… read more here.
Keywords: kinematic reliability; time dependent; dependent system; planar parallel ... See more keywords
Synthesis of planar parallel manipulators including dexterity, force transmission and stiffness index
Sign Up to like & getrecommendations! Published in 2019 at "Mechanics Based Design of Structures and Machines"
DOI: 10.1080/15397734.2019.1615503
Abstract: Abstract In this article, we propose a method for the optimal dimensional synthesis of planar parallel manipulators covering a specified workspace. The proposed method aims to reduce the dimensions of the links, while maximizing the… read more here.
Keywords: parallel manipulators; stiffness; synthesis; dexterity ... See more keywords
Stiffness analysis of a planar parallel manipulator with variable platforms
Sign Up to like & getrecommendations! Published in 2021 at "Mechanics Based Design of Structures and Machines"
DOI: 10.1080/15397734.2021.1875333
Abstract: This work investigates the stiffness characteristics of a planar parallel manipulator with variable platforms. The stiffness model is established with shape variables of the base and mobile platfor... read more here.
Keywords: manipulator variable; platforms stiffness; variable platforms; planar parallel ... See more keywords
A Novel Kinematically Redundant Planar Parallel Robot Manipulator With Full Rotatability
Sign Up to like & getrecommendations! Published in 2018 at "Journal of Mechanisms and Robotics"
DOI: 10.1115/1.4041698
Abstract: This paper presents a novel kinematically redundant planar parallel robot manipulator, which has full rotatability. The proposed robot manipulator has an architecture that corresponds to a fundamental truss, meaning that it does not contain internal… read more here.
Keywords: redundant planar; robot manipulator; robot; planar parallel ... See more keywords
Kinematic study of feasibility of geared planar parallel manipulator
Sign Up to like & getrecommendations! Published in 2022 at "Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"
DOI: 10.1177/09544062221105988
Abstract: The paper shows an appropriate unitary study of a novel geared planar parallel manipulator with the structure 3-R (PRRGR)RR which uses geared linkages with linear actuators and slider cranks as legs. The use of geared… read more here.
Keywords: parallel manipulator; geared planar; kinematic study; planar parallel ... See more keywords
Motion coordination control of planar 5R parallel quadruped robot based on SCPL-CPG
Sign Up to like & getrecommendations! Published in 2022 at "Advances in Mechanical Engineering"
DOI: 10.1177/16878140211070910
Abstract: The parallel leg of the quadruped robot has good structural stiffness, accurate movement, and strong bearing capacity, but it is complicated to control. To solve this problem, a series connection of parallel legs (SCPL) was… read more here.
Keywords: control system; control; planar parallel; quadruped robot ... See more keywords