Since most of the cable-driven parallel manipulators (CDPMs) are small in dimension or low speed, self-weight inertia cable is neglected when dealing with problems kinematics, dynamics and workspace. The treated as a massless straight line, not discussed. However, camera robot large-span high-speed CDPM. Thus, cannot be negligible. curved due to modeled catenary accurately account for its saggi...

Surgery is one of the fields where robots have been introduced due to their positioning accuracy which exceed the human capabilities. Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications. In the paper is presented the modeling and simulation of a new parallel robot, based on an innovati...

This paper discusses the generation of a control signal that would instruct the actuators of a robotics manipulator to drive motion along a safe and well-behaved path to a desired target. The proposed concept of navigation control along with the tools necessary for its construction achieve this goal. The most significant tool is the artificial vector potential field which shows a better ability...

While existing grippers execute manipulation tasks, they occlude parts of the objects they grasp as well as parts of the workspace from vision sensors. We present the concept of a transparent gripper that enables vision sensors to image an object without oc-clusion while it is being manipulated. The physics of refraction, total internal reeection, lens eeects, dispersion and transmittance are a...

Leg dynamics obstructs the trajectory following at high speed, thus being responsible of tracking errors and system instability. The election of trapezoidal or parabolic foot velocity profiles can deal with leg dynamic effects. However, the effects of leg dynamics are different for each foot trajectory. Therefore, to optimize foot speed, the foot velocity profile should adjust to leg dynamics f...

2.1 SCM models Feiler’s models of configuration management (check-out/check-in, composition, long transaction and change set) [Feil91] no longer adequately represent the current generation of commercial configuration management tools or the emerging tools and research systems. Are there better or expanded models to represent workspace concepts? Do we need new models for concurrent development i...

A microrobotic leg actuated with amplifying mechanisms is developed in this letter to mimic the motion of legs natural organisms on small scale. The device has a planar structure and fabricated bulk micromachining. Two electrothermal actuators are used drive back forth workspace. actuator transmitted elastically using flexible arms. mechanism symmetrical similar standard parallel manipulators b...

For workspace-to-workspace awareness systems, the design of the underlying infrastructure stands out as difficult. We discuss our experience building infrastructures and visualizations that aim to help people better coordinate their work, showing how our infrastructures have evolved through four of our prototype systems: Palant́ır, Lighthouse, Workspace Activity Viewer, and World View. Through o...