Theoretically, parallel kinematics machine tools should be very accurate and rigid due to their closed loop structure and no error accumulation characteristics. Unfortunately, these theoretical presumptions have not been confirmed in practice, due to manufacturing and assembly errors, kinematic errors in the actuators and joints, elastic deformations due to the gravity, thermal deformations, li...

Continuum manipulators are robotic manipulators built wing one continuous, elastic, and highly deformable %ackbone” instead of multiple rigid links connected by joints. This paper eztends a previous control result for planar continuum robots b y proposing a new asymptotic wnvergence argument for a PD-plw-feedforward controller. The benefit of the asymptotic a w m e n t s is that the backbone be...

An effective strategy for walking over rough terrain, flat plane, and wreckage includes transitioning from quadrupedal to bipedal locomotion. In this study, we designed a trunk mechanism that provides successful posture transition from quadrupedalism to bipedalism. The proposed trunk mechanism imitates the human trunk with redundant joints and elastic muscles supporting the trunk. The simulatio...

A cam driving a lumped inertia through a massless, elastic, slider-crank fol­ lower linkage with two concentrated masses located at the pin joints is considered. An iterative procedure taking the elasticity, damping, and changing geometry of the linkage into account is developed for synthesizing the cam profile to produce a desired output motion at a given design speed. The steady state solutio...

Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...

This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto‐static adimension...

A computer model of the frame a ribbed-ring metal dome steel I -beams with span 30,3 m and height 7,5 rigid connections at joints have been developed. Based on design scheme, auxiliary models partially complete frameworks were designed to study alternative installation methods, which differ from each other in location scheme temporary supports hinge bar elements over them. The utilized three sc...