A robotic manipulator can fail in many diierent ways, and its capabilities after a failure are a major concern, especially for manipulators used in hazardous and remote environments, where the cost of repair or replacement is high. This article presents a study of the workspaces of robotic arms after a free-swinging failure, deened as a hardware or software failure that prevents the application...

A novel asymmetrical spatial parallel manipulator with three degrees of freedom is proposed. The moving platform of the manipulator has two‐translational and one‐rotational (2T1R) DOFs with respect to the fixed base. Two other manipulators with platforms with high rotational ability are obtained by making simple changes to the original manipulator’s architecture. The platform o...

A new method of handling the kinematic singularities of serial robotic manipulators is proposed. The idea is to transform the manipulator’s workspace W into a desingularized workspace W . Robotic motions can then be planned anywhere inW , subject to limits on spatial velocity and acceleration, and the resulting joint velocities and accelerations will be well-behaved and bounded. W differs from ...

* Corresponding Authors ABSTRACT This paper studies the geometric design of spatial open loop prismatic-revolute-revolute (PRR) robot manipulators. Four spatial positions and orientations are defined and the dimensions of the geometric parameters of the PRR manipulator are computed so that the manipulator will be able to place its end-effector at these four pre-specified locations. Denavit and ...

Kinetostatics of a robot is an essential component robotic analysis that includes actuation distribution and torque control. The extant methods mainly include the static transfer formulae force Jacobian matrix algorithms based on Denavit-Hartenberg (D-H) method. They can calculate joint driving torque, but there are some limitations. This paper proposes kinetostatics approach for analyzing seri...

In this paper, the authors study the kinematic isotropic configuration of spatial cable-driven parallel robots by means of four different methods, namely, (i) symbolic method, (ii) geometric workspace, (iii) numerical workspace and global tension index (GTI), and (iv) numerical approach. The authors apply the mentioned techniques to two types of spatial cable-driven parallel manipulators to obt...

We focus on the development of modular and recursive formulations for the inverse dynamics of parallel architecture manipulators in this paper. The modular formulation of mathematical models is attractive especially when existing sub-models may be assembled to create different topologies, e.g., cooperative robotic systems. Recursive algorithms are desirable from the viewpoint of simplicity and ...

This paper reviews techniques for assessing how joint clearances affect the precision of multiloop, multifreedom linkages. Slop, or backlash, arises from the small movements as joint clearances are taken up and, as these movements are generally uncontrolled, the precise location of bodies in the linkage becomes uncertain. This is particularly important when such linkages are used as robot manip...

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...

parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. these parameters are particularly needed in implementation of a model-based controller for robot manipulators. in this paper, the inertial parameters of a manipulated rigid-body object have been estimated. the newton-euler equations will be employe...