Needle placement is an important procedure in many medical fields, especially in diagnosis (for the achievement of biopsies) or cancer treatment procedures (like brachytherapy). The paper presents an extensive study of the workspace for an innovative parallel robot designed for needle placement procedures. The singularities of the parallel robot are exhaustively analysed and the possibilities o...

Abstract The 3 C (computer, communications, consumer electronics) industry belongs to labor-intensive and the requirements of are precisely high. parallel robot is a good choice replace human labor manufacture these products. This paper presents new 3- <m...

In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. order to a robot, it is essential address issues that arise from the restriction of cable tension, as well redundancy an system. contrast previous research required consideration relationship between tension constraints and computed wrench in distribution problems, developed function incorporates...

This paper describes a design of six-axis force sensor that mesures ground reaction force of human or humanoid robot. The key concept is parallel support mechanisms that allow large torques and forces which are caused when foot is hitting to the environment. Basic concept and design of parallel support mechanisms are denoted. Finally ground reaction force measurement system for human walking, a...