The closed-loop nature of the Gough-Stewart platform generates complex singular configurations inside the workspace and makes its workspace smaller compared to the serial mechanism. It is desirable to obtain a non-singular workspace based on describing the constraint workspace and representing the singularities inside the constraint workspace. Some algorithms have been proposed by researchers t...

When using web services to perform complex data manipulations, users and administrators need control over how their changes are managed and seen by other clients of the service. This includes support for undo of changes, batch publishing of many changes, ‘what if’ analysis, the collaboration of several people in making and approving a complex change, workspace based access control, and the audi...

We built a highly compliant, underactuated, robust and at the same time dexterous anthropomorphic hand. We evaluate its dexterous grasping capabilities by implementing the comprehensive Feix taxonomy of human grasps and by assessing the dexterity of its opposable thumb using the Kapandji test. We also illustrate the hand’s payload limits and demonstrate its grasping capabilities in real-world g...

This paper addresses the dexterous manipulation planning problem of 3D rigid objects by a multi-fingered hand. We present a general motion planning algorithm capable to automatically generate specific stable grasps allowing a multifingered hand to manipulate rigid objects. It is also capable to address continuous sets of stable grasps, rather than sampling one generally assumed by the previous ...

In recent years, many multi-finger robotic hands have been designed and developed in order to emulate a human hand. The human hand has many sophisticated a lot of complicated dexterous skills that human themselves sometimes did not notice, for example an ability to grasp and manipulate tiny objects, a capability to regrasp an object without releasing and so on. To mimic or imitate these kind of...

In the literature, studies on dexterous manipulators are mainly focused on multi-finger multi-joint structures. These manipulators often have difficulties with grasping heavy objects due to the delicateness and complexity of the structures. This paper describes the authors’ attempt on implementing dexterous grasping on a traditional two-single-jointfinger hydraulic manipulator. Hydraulic driven...

Purpose – Slim and dexterous manipulators with long reaches can perform various exploration and inspection tasks in confined spaces. This paper aims to present the development of such a dexterous continuum manipulator for potential applications in the aviation industry. Design/methodology/approach – Benefiting from a newly conceived dual continuum mechanism and the improved actuation scheme, th...

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...