According to the notation proposed by the International Federation for the Theory of Mechanisms and Machines IFToMM (Ionescu, 2003); a parallel manipulator is a mechanism where the motion of the end-effector, namely the moving or movable platform, is controlled by means of at least two kinematic chains. If each kinematic chain, also known popularly as limb or leg, has a single active joint, the...

Since a parallel structure is a closed kinematics chain, all legs are connected from the origin of the tool point by a parallel connection. This connection allows a higher precision and a higher velocity. Parallel kinematic manipulators have better performance compared to serial kinematic manipulators in terms of a high degree of accuracy, high speeds or accelerations and high stiffness. Theref...

The hydraulic servo control system, which is the important component of parallel robot, is a high order, nonlinear, dynamic asymmetry, parameter uncertain system, which seriously affect dynamic performance of robot, so it is very difficult to gain good performance with traditional control. Based on sliding mode variable structure control method combined with fuzzy control and adaptive control, ...

This investigation deals with the optimization of the kinematic parameters of a parallel robot structure, with respect to a given instantaneous twist deformation (ITD) of the moving platform. Drawing principally upon tools from screw theory, a parametric objective function is derived which quantifies the robots performance with respect to the given ITD. Physically, the objective function quanti...

In this paper, a novel 6 Degree of Freedom (DOF) parallel manipulator was presented used for airplane assembling. Because of many advantages, parallel robot is perfect used in this special application. A variant of Stewart-liked configuration was adapted as the main structure. After inverse kinematics analysis, stiffness analysis, accuracy analysis, dexterity analysis, multiobjective optimizati...

The presented robotic system has been designed and dedicated to remote control video cameras away from monitoring workspaces. The idea of the system is that the camera is installed on the flying platform of the cable driven manipulator. The manipulator is the slave part of the robotic system similar to the standard inverted Stewart platform that features six degrees of freedom. The presented ma...

We are developing an autonomous mobile robotic system to emulate six degree of freedom relative spacecraft motion during proximity operations. A mobile omni-directional base robot provides x, y, and yaw planar motion with moderate accuracy through six independently driven motors. With a six degree of freedom micro-positioning Stewart platform on top of the moving base, six degree of freedom spa...

Modelling driving decisions: a latent plan approach Charisma F. Choudhury a b & Moshe E. Ben-Akiva b a Department of Civil Engineering , Bangladesh University of Engineering and Technology , Dhaka , Bangladesh b Department of Civil and Environmental Engineering , Massachusetts Institute of Technology , Cambridge , MA , USA Accepted author version posted online: 10 Nov 2011.Published online: 18 ...