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...

Cable-suspended parallel robot (CPR), in which cables are utilized to replace links to manipulate objects, is developed from parallel and serial cable-driven robot. Compared with the parallel robot, this kind of robot has more advantages. The cooperative variation of lengths of six cables pulls the feed cabin to track radio source with six degrees of freedom (DOFs). Similar to a parallel robot,...

This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for developing a 3D parallel mechanism robot. In the mechanical system, a 3D parallel mechanism robot contains three serial chains, a fixed base, a movabl...

Most robot controllers today employ a single processor architecture As robot control requirements become more complex these serial controllers have di culty providing the desired response time Additionally with robots being used in environments that are hazardous or inaccessible to humans fault tolerant robotic systems are particularly desirable A uniprocessor control architecture cannot o er t...

Cooperative arms are two or more arms in series which assume the structure of a parallel robot on account of gripping an intermediary object, and are commonly used in accurate assembly industries, coaxialization, movement of object, etc. Gripping an intermediary object is one of the complicated subjects in analysis of cooperative arms, whose analysis is mostly dependent upon the manner the obje...

as a robot could be stable statically standing on three or more legs, a six legged walking robot can be highly flexible in movements and perform different missions without dealing with serious kinematic and dynamic problems. an experimental six legged walking robot with 18 degrees of freedom is studied and built in this paper. the kinematic and gait analysis formulations are demonstrated by an e...

In the paper, a novel new gravity-constrained (GC) three-wire-driven (TWD) parallel robot is proposed, and the prototype is presented with control system. With its mechanism model, three typical kinematic analytical models, including horizontal up-down motion, pitching motion and heeling motion and their corresponding simulations are given in detail. The open-loop and close-loop control scheme ...

This paper discusses a parallel architecture designed for autonomous mobile robot navigation tasks. Parallelism is used to enhance system speed and developmental exibility. The system-called MADRON-consists of ve independent parallel agents sharing common data and control information. They are a communication agent for interfacing the system with a `Ralph' class autonomous mobile robot, a visio...

This paper determines most common model of in-pipe robots to derive its degree of freedom in order to compare with the necessary degree of freedom required for a system to move inside pipelines freely in order to derive analytical reason for losing control of in-pipe robots at branched pipe. DOF of most common mechanism in in-pipe robots can be calculated by considering the robot as a parallel ...

This paper introduces a new type of parallel robot control based on standard hardware and software. HIGHROBOT is a universal control for robot arms as well as peripheral devices. The control hardware is a multiprocessor SPARCstation running Solaris 2.x with soft real-time features compliant to POSIX.4. The software of the HIGHROBOT control has an object-oriented design. Both hardware and softwa...