This paper analyzes the singularities of a three degree of freedom (DOF) spatial parallel manipulators utilizing line geometry and linear complex approximation. First, the 6 · 6 matrix, mapping external wrenches acting on the moving platform to internal forces/moments at the manipulator s joints, is derived as a set of six governing lines. By analyzing the dependencies of these lines, all singu...

Most of previous quantum computations only take use of one degree of freedom (DoF) of photons. An experimental system may possess various DoFs simultaneously. In this paper, with the weak cross-Kerr nonlinearity, we investigate the parallel quantum computation dependent on photonic systems with two DoFs. We construct nearly deterministic controlled-not (CNOT) gates operating on the polarization...

This paper presents a new architecture in soft robotics that utilizes particulate jamming technology. A novel concept of actuation is described that utilizes jamming technology to modulate the direction and magnitude of the work performed by a single central actuator. Jamming “activators” modulate work by jamming and unjamming (solidifying and liquifying) a granular medium coupled to a core act...

In this paper, telemicromanipulation systems with haptic feedback, which are connected through network, are proposed. It is based on scaled bilateral teleoperation systems between different structures. These systems are composed of an original 6 degree of freedom (DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

This paper deals with the generation of sufficiently smooth position, velocity, and acceleration references for guiding the motion of an ROV along purposefully defined curvature-continuous paths in automated missions. The references are meant to be employed in high-performance trajectory tracking and dynamic positioning applications. The path planning problem is not in the scope of this work. A...

SUMMARY In this paper, we present a novel passive single degree-of-freedom (DoF) manipulator design and its integration on an autonomous drone to capture moving target. The end-effector is designed be passive, disengage the target from flying UAV it efficiently in presence of disturbances, with minimal energy usage. It also handle sway effect downwash. integrated through DoF arm, experiments ar...

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, identification is extremely important. However, serial that do not meet Pieper criterion cannot obtain through analytical methods. A joint angle parameterization method, used to configurations, here creatively proposed. First, an method based on Jac...

Robotic exoskeleton is getting important to human in many aspects such as power assist, muscle training, regain motor function and rehabilitation. The research and development towards these functions are expected to be combined and integrated with the human intelligent and machine power, eventually becoming another generation of robot which will enhance the machine intelligent and human power. ...

In order to improve control performance and eliminate steady, a coupling compensation for 6-DOF parallel robot is presented. Taking dynamic load Tank Simulator as the research object, this paper analyzes the coupling of 6-DOC parallel robot considering the degree of freedom of the 6-DOF parallel manipulator. The coupling angle and coupling velocity are derived based on inverse kinematics model....