We consider a model of reconfigurable robot, introduced and prototyped by the robotics community. The robot consists of independently manipulable unit-square atoms that can extend/contract arms on each side and attach/detach from neighbors. The optimal worst-case number of sequential moves required to transform one connected configuration to another was shown to be Θ(n) at ISAAC 2007. However, ...

This paper covers the problem of Collision Free Path Planning for an autonomous robot and proposes a solution to it through the Back Propagation Neural Network. The solution is transformed into a composition of matrix-multiplication operations, which is a classic example of problems that can be efficiently parallelized. This paper finally proposes a parallel implementation of this matrix-multip...

This paper designs a four legged parallel walking robot to go through a narrow hole. Topology design is conducted for a leg mechanism composed of four legs, base and ground, which constitute a redundant parallel mechanism. This mechanism is subdivided into four sub-mechanism composed of three legs. A motor vector is adopted to determine the 6x8 Jacobian of the redundant parallel mechanism and t...

The efficiency and accuracy for parallel robot play a significant role in the industrial production process. In order to further improve motion performance of robot, this paper focuses on study mechanism design, dynamic modeling error analysis cable-linkage serial-parallel palletizing (CSPR). Firstly, CSPR is designed as series-parallel hybrid driven by flexible cables, which can effectively re...

In this paper a new procedure for type synthesis of low-DoF parallel robots based on screw theory is presented. The motivation of these work is that for many industrial applications, in particular in the machine-tool field, less than 6 degree of freedom (6-DoF) may be needed to complete the task. For example, for milling operation in the machine-tool domain, the rotation of the platform around ...

Parallel robots have natural advantages for many applications thanks to their high rigidity, accuracy, low inertia of the moving parts and lightness, etc. The goal this study has performed motion control, kinematical, workspace analyses a Delta-type parallel robot with 3 degrees freedom (3-DOF). actual parameter values were used in control analyses. Forward inverse kinematics analysis, as well ...

in this project guidance and control of underwater robot, including three engines and propeller attached to it, by fuzzy control has been investigated. fuzzy control is done based on human experience and requiered laws. the robot can also be controlled and guided by the user. this robot may be used in sea or swimming pool environment for finding goal point and locate in desired direction. in ad...

in the research, six degrees of freedom hexapod parallel machine tool is studied and investigated. jacobian matrix is developed by cinematic relations differentiation and using weighted coefficient method, dimensional analysis operation is carried out on jacobian matrix. geometric parameters of cartesian robot workspace are optimized, considering a minimum allowable rotation about three axes, a...

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

This paper presents the application of an ellipsoidal method for robust dynamic identification of parallel robots. The robot is modelled with classical Lagrange equation which leads to an inverse dynamic model linear with respect to the parameters. Assuming the error additive on input (motor torque), the problem is expressed in a bounded error context. The ellipsoidal method is applied in a fac...