dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

This paper provides an optimal parametric design for tri-axial nested Helmholtz coils, which are used to generate a uniform magnetic field with controllable magnitude and direction. Circular and square coils, both with square cross section, are considered. Practical considerations such as wire selection, wire-wrapping efficiency, wire bending radius, choice of power supply, and inductance and t...

In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. The robot is tele-operated using the Novint Falcon haptic device. Two control modes are implemented...

In this paper, we analyze the capabilities of a novel class of continuous-backbone (“continuum”) robots. These robots are inspired by biological “trunks, and tentacles”. However, the capabilities of established continuum robot designs, which feature controlled bending but not extension, fall short of those of their biological counterparts. In this paper, we argue that the addition of controlled...

The abstract should summarize the contents of the paper and should contain at least 70 and at most 150 words. It should be set in 9-point font size and should be inset 1.0 cm from the right and left margins. The coordinate measuring machine systems (CMMS) are widely used for part inspections in manufacturing plants, which mostly include bridge CMMS and horizontal CMMS driven by motor and portab...

Significance Magnetic soft continuum robots (MSCRs) capable of magnetic field–controllable steering offer great promise for the endovascular treatment cardiovascular diseases. However, existing MSCRs are often limited to small workspaces because lack efficient design and optimization tools. In this work, we introduce an evolutionary strategy by integrating theoretical modeling genetic algorithm...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

In this paper we investigate control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal, e.g., provided by gravity or a magnetic field. Upon activation, each robot moves in the same direction, maximally until it hits a stationary obstacle or another stationary robot. In a workspace with only simple exterio...

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...