this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

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...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

For a mobile manipulator to be used in areas such as offices and houses, it is desirable that the mobile platform be small sized. In the case of a small-sized platform, the mobile manipulator may tip over when moving at high speed or executing tasks in the presence of disturbances. Therefore, it is necessary to simultaneously consider both stabilization and manipulation while coordinating vehic...

In the article it is proposed to improve wave power plants by using a primary manipulator converter (PMC) with the structure of a parallel six-mobile manipulator for converting energy of waves into mechanical energy. There has been developed a physical model of a primary manipulator converter confirming its functionality. There have been obtained geometrical dimensions of a primary manipulator ...