in this article a new and an accurate method for kinematic and dynamic analysis of a parallel robot 3prs and a hybrid robot (parallel and serial) 3prs-rrp are presented, which is based on the denavit-hartenberg transformation matrix algebra. first, basic properties of various kinds of robots are compared, and then the denavit-hartenberg parameters and their table are introduced. next, the metho...

Next time you find yourself in an aquarium, pay attention to the fish's fins. The middle fins particular show a mesmerising variety number, shape and position on body. But what is purpose of such variation? David Matthews George Lauder Harvard University aimed address this question by investigating interactions between tail their effect movement. Biologists engineers have previously attempted n...

It is important to get information about obstacles to avoid collision for a natural and smooth movement for fish robots. In this paper, we propose an IR sensor-based measurement system which gets information about obstacles for underwater fish robots. Due to complexity and space restriction, IR distance sensors are installed instead of cameras or sonar systems. Much importance is given to the n...

The present paper investigates an intuitive way of robot path planning, called robot teaching by demonstration. In this method, an operator holds the robot end-effector and moves it through a number of positions and orientations in order to teach it a desired task. The presented control architecture applies impedance control in such a way that the end-effector follows the operator’s hand with d...

Fishes have evolved different excellent swimming strategies. To study the influence of tail fin swing on performance bionic robot fish, with one joint under same frequency and amplitude, we designed a novel driven by double-cam mechanism. By designing profile cam in mechanism, fish can achieve undulatory motion trajectory caudal amplitude. The mechanism simulated crucian carp. We studied speed ...

Mobile robot navigation is one of the basic problems in robotics. In this paper, a new approach is proposed for autonomous mobile robot navigation in an unknown environment. The proposed approach is based on learning virtual parallel paths that propel the mobile robot toward the track using a multi-layer, feed-forward neural network. For training, a human operator navigates the mobile robot in ...

Design, modeling, manufacturing and experimental analysis of a six degree freedom robot, suitable for industrial applications, has been described in this paper. The robot was designed on the assumption that, each joint has an independent DC motor actuator, with gear reduction and measuring sensor for angular joint position. Mechanical design of the robot was done using Mechanical Desktop and ma...