in this paper, a new approach to modify cable tension measuring mechanism is described; furthermore, the constructed boards which amplify load cell output are introduced. this approach has some advantages including of providing feedback for motors, evaluating the robot’s ultimate load carrying capacity, improving the motor control system and estimating the vibrating deflections of the end effec...

This paper presents experimental analysis of wheeled mobile robots. Mathematical modelling of the mobile robot is presented. The mobile robots consist of an omni-directional and three differential drive mobile robots are tested and moved in given trajectories and the systematic errors of the robots are determined. A new method for omni-direction mobile robot was introduced in which the robot wa...

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric a...

This paper aims to develop a writing robot by recognizing the speech signal from the user. The robot arm constructed mainly for the disabled people who can’t perform writing on their own. Here, dynamic time warping (DTW) algorithm is used to recognize the speech signal from the user. The action performed by the robot arm in the environment is done by reducing the redundancy which frequently fac...

Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

  Omni directional mobile robots have been popularly employed in several applications especially in soccer player robots considered in Robocup competitions. However, Omni directional navigation system, Omni-vision system and solenoid kicking mechanism in such mobile robots have not ever been combined. This situation brings the idea of a robot with no head direction into existence, a comprehensi...

This paper will describe the kinematics and dynamics of parallel robot named Delta with 3 degree of freedom (d.o.f). The use of dynamics coupled with kinematics for the control of parallel robot has been gaining increasing popularity in recent years. Relationship between generalized and articular velocities is established, hence jacobian and inverse jacobian analyses are determines. The inverse...

The conceptual design of parallel robots can be dated back to the time when Gough established the basic principles of a device with a closed-loop kinematic structure (Gough 1956), that can generate specified position and orientation of a moving platform so as to test tire wear and tear. Based on this principle, Stewart designed a platform for use as an aircraft simulator in 1965 (Stewart 1965)....

This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai’s manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that...