This paper presents a reconfigurable cable parallel robot, which spatial topology can be reconfigured through managing the branch numbers and the hoisting points of the end-effector. An experimental prototype of the reconfigurable cable parallel robot is designed and developed. A typical configuration of the reconfigurable cable parallel robot is analyzed as a case study. The finite element ana...

This paper describes the kinematic design issues of a modular reconfigurable parallel robot. Two types of robot modules, the fixed-dimension joint modules and the variable dimension link modules that can be custom-designed rapidly, are used to facilitate the complex design effort. Module selection and robot configuration enumeration are discussed. The kinematic analysis of modular parallel robo...

This paper presents a robot design for use in robotic-assisted surgery. The requirements of a medical robot point to the advantage of a parallel robot structure for this task. Based on laparoscopic surgery, specifications for workspace, velocity, force and accuracy of the robot were determined. Following a large number of kinematic and dynamic simulations, an RSPR parallel robot was designed an...

Machine supervision on parallel robots demand a powerful online singularity loci prediction. To detect the entrance of the end-effector on direct kinematic singularities that constrain the internal workspace is not trivial for parallel robots with five or six degrees of freedom. This paper presents a strategy to safely drive a Hexa parallel robot out of direct singularity regions based an index...

In this paper, we describe the control strategy of high speed parallel robot system with EtherCAT network. This work deals the parallel robot system with centralized control on the real-time operating system such as window TwinCAT3. Most control scheme and algorithm is implemented master platform on the PC, the input and output interface is ported on the slave side. The data is transferred by m...

Compared with the serial mechanism, the parallel mechanism has many advantages. Using the parallel mechanism as the basic leg mechanism of a walking robot, not only the payload-weight ratio can be improved, but also the robot walking stability and security performance can be enhanced. By combining the kinematics features of 3-UPU parallel mechanism with the structural features of the quadruped ...

The development of robot control programs is a complex task. Many robots are different in their electrical and mechanical structure which is also reflected in the software. Specific robot software environments support the program development, but are mainly text-based and usually applied by experts in the field with profound knowledge of the target robot. This paper presents a graphical program...