... with the analysis of the manipulator’s kinematic properties. The developed prototype has confirmed the feasibility of the synthesis and actuation principles outlined above. The proposed manipulator topology can be applied in future manufacturing machines in accordance with different practical requirements of output...

... prostate biopsy result in false negative diagnosis, which implies that cancer will go untreated, continue to evolve, and spread if malignant [( 6 )]. binary actuation MRI manipulator pneumatic muscle compliant mechanism biomedical MRI cancer elasticity manipulator kinematics medical...

... using the proposed approach and comparison against the conventional numerical approach is presented. 13 08 2010 03 05 2011 07 07 2011 08 07 2011 manipulator kinematics numerical analysis References 1 Merlet , J.-P. , 2000 , Parallel Robots , Kluwer...

... manipulator kinematics reconfigurable limb synthesis geometric constraint topology configuration mobility change parallel mechanism metamorphic mechanism twist screw system A parallel mechanism represented by the Stewart–Gough [ 1 2 ] type typically consists of a rigid...

... theory mobility Lie product Lie bracket twist vector motion screw exponential map Baker–Campbell–Hausdorff displacement control Lie algebras linear systems manipulator kinematics motion control 24 03 2009 31 01 2010 30 03 2010 30 03 2010 Nonsingular...

... charts is presented. The manipulator that has a large workspace and good motion/force transmissibility is identified. 14 08 2009 10 01 2010 11 03 2010 11 03 2010 design end effectors manipulator kinematics power transmission (mechanical) Compared with serial robots...

... manipulator kinematics position control three-term control compliant mechanisms nonlinear elastica theory parallel-arm mechanisms dynamics of compliant mechanism control of nonlinear springs dwell motion trajectory control Compliant parallel-arm (PA) mechanisms can be used for different...

... Comparison of Planar Parallel Manipulators ,” IRCCyN Internal Report No. IRCCyN091023. algebra dexterous manipulators manipulator kinematics position control sensitivity analysis Variations in the geometric parameters of parallel kinematics machines (PKMs) can be either compensated...

... for maintaining their orientation ( 4 ). Extended overviews of dynamic balancing techniques and methods can be found in Refs. 1 5 6 7 . manipulator dynamics manipulator kinematics 03 11 2008 13 05 2009 07 10 2009 2009 American Society of Mechanical Engineers ...

... Conference on Intelligent Robots and Systems (IROS 2008) , France. 21 07 2008 07 05 2009 20 07 2009 control system synthesis legged locomotion manipulator dynamics manipulator kinematics telerobotics mobile robots tele-operative locomotion mechanisms control...

... ), and upper limb rehabilitation ( 14 15 ) have been also investigated using the light and simple construction of cable-driven manipulators. cables (mechanical) manipulator kinematics 11 06 2008 12 03 2009 19 05 2009 2009 American Society of Mechanical Engineers ...

.... 09 06 2008 19 02 2009 15 04 2009 geometry manipulator kinematics optimisation Parallel manipulators with fewer than six degrees of freedom (DOFs) have been attracting the attention of the robotic community for the past two decades. This is mainly due to the fact...

... objects, as well as for stabilization and power efficiency when bending is not necessary. The split locking mechanism represents a biologically inspired structure with added strength and stability for use in robotics. 04 01 2008 27 05 2008 16 12 2008 joining processes manipulator...

... on Robotics (ISR) , Tokyo, Japan , Nov. 29–Dec. 1. Briot , S. , 2007 , “ Analyze and Optimization of a New Class of Parallel Manipulators With Decoupled Motions ,” Ph.D. thesis, INSA of Rennes. 06 12 2007 21 05 2008 21 10 2008 actuators manipulator kinematics...

... the resulting optimal designs do not exhibit this problem. 09 10 2007 13 06 2008 30 09 2008 control system synthesis finite element analysis genetic algorithms graph theory grippers industrial manipulators manipulator kinematics Compliant mechanisms are jointless...

... arms. 24 10 2006 16 07 2008 23 09 2008 CAD computer aided analysis control engineering computing control system synthesis interpolation manipulator kinematics motion control splines (mathematics) This paper deals with the problem of synthesizing Cartesian...

... 09 06 2008 23 09 2008 control system analysis control system synthesis manipulator kinematics One of the most important problems in kinematics is that of kinematic synthesis. Moreover, there is almost universal consensus that the task of kinematic synthesis is the design...

... for the geometric optimization based on singularity analysis. 13 09 2007 27 05 2008 23 09 2008 manipulator kinematics Gough–Stewart platform singularity equation minimal set of geometric parameters Parallel mechanisms possess significant advantages over serial mechanisms...

... stiffness matrices and the elastic deformation of the 3DOF 3 S P ̱ R , 3DOF 3 R P ̱ S , 4DOF 2 S P ̱ S + 2 S P ̱ R , and 5DOF 4 S P ̱ S + S P ̱ R PKMs. 05 08 2007 12 12 2007 11 09 2008 elastic deformation Jacobian matrices manipulator kinematics Currently, various 3–5DOF...

... with details of push-rods, antagonistic wires, and leg-rod contacts 26 06 2007 29 05 2008 09 09 2008 manipulator kinematics medical robotics microrobots mobile robots surgery robotic surgery needlescopy parallel mechanisms compliant mechanisms In recent years...