Recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. This paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called Dual-Arm Cam-Lock Manipulator. The Manipulator i...

In this paper, a dynamical model-based SMC (Sliding Mode Control) is proposed fortrajectory tracking of a 3-RPS (Revolute, Prismatic, Spherical) parallel manipulator. With ignoring smallinertial effects of all legs and joints compared with those of the end-effector of 3-RPS, the dynamical model ofthe manipulator is developed based on Lagrange method. By removing the unknown Lagrange multipliers...

Minimally invasive surgery (MIS) is one of the most challenging tasks in surgical procedures due to lack visibility area, instrument orientation, and depth perception. A tele-operated robot assisted minimally developed enhance a surgeon's hand dexterity accuracy. To perform MIS, surgeon controls slave manipulator via master manipulator, so force feedback motion are required imitate an amount ac...

ThiJ puper addresses the issue of dynamic similarity and intensive property invariance in scaled bilateral naunipulation, and ofsers a design methodology bused on these considerations. Dimensional analysis methods are utilized to form the basis of a constrained optimization problem that enables selection of a force scaling factor that minimizes the intensive distortion of the environment. The p...

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators with colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference a...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

Parallel robots enjoy enhanced mechanical characteristics that have to be contrasted with a more complicated design. In particular, they often have parallel singularities at some poses, and the robot may become uncontrollable, and could even be damaged, in such configurations. The computation of singularity free sets of reachable poses, called generalized aspects, is therefore a key issue in th...

This paper deals with the identification problem of the inertial and frictional parameters of a parallel manipulator. Two important issue are considered; the physical feasibility of the identified inertial parameters and the use of linear and nonlinear friction models. The dynamic model, analyzed and reduced to a set of base parameters through the Singular Value Decomposition, is derived starti...

This paper studies the kinematics and statics of cable-driven parallel robots with less than six cables, in crane configuration. A geometrico-static model is provided, together with a general procedure aimed at effectively solving, in analytical form, the inverse and direct position problems. The stability of equilibrium is assessed within the framework of a constrained optimization problem, fo...

In this article we’ll present an original uterine manipulator, very useful for pelvic surgery, especially for laparoscopic hysterectomies. There is a great diversity of uterine manipulators at present on the medical market, whichever making a manipulation of the uterus, a vaginal defining the seabed bag, ensuring the definition of anatomical elements for a quick and safe intervention. They can ...