Reuleaux Triangle—Based Two Degrees of Freedom Bipedal Robot

Dynamical Systems with Two Degrees of Freedom.

Double Circular-triangular Six-degrees-of-freedom Parallel Robot

This paper describes a new structure of a six-DOF parallel robot. First, a known planar three-DOF double-triangular structure is modified by replacing the stationary triangle with a circle. It increases the work envelope considerably especially when rotational motions are required. The ability for unlimited rotational motion allows extending the structure into six-DOF by using two sets of stati...

Cable-based Robot Manipulators with Translational Degrees of Freedom

Cable-based robots build upon mechanisms that not only use rigid links in their structures but also utilize unilateral force elements such as cables to deliver the desired motion. Cables may be either connected to active winches to provide a variable length and hence to actuate the mechanism or may be only to provide a kinematic constraint to eliminate an undesired motion of the endeffector. Ma...

Implementation of a Hybrid Stabilizing Controller on a Mobile Robot with Two Degrees of Freedom

One of the results of a research project on mechatronics is a mobile robot, which was used as a carrier for research on the design of mechatronical systems. This mobile robot, the Mobile Autonomous Robot Twente (MART), is intended to be used as major part of a future assembly factory. In this paper the implementation on the MART-robot of a recently developed hybrid controller for stabilization ...

A Flexible Distal Tip with Two Degrees of Freedom for Enhanced Dexterity in Endoscopic Robot Surgery

A flexible distal tip with two degrees of freedom has been developed for endoscopic robot surgery. The flexible tip consists of a superelastic NiTi tube which can be bent from -90o to +90o in 2 directions by means of 4 cables. The improvement over previous devices is the combination of two degrees of freedom with a small diameter of only 5 mm. An additional advantage is the tool channel which e...