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For the characteristic of compact structure, low inertia, high rigidness and accuracy, parallel mechanisms are worthwhile to be popularized in the field of agricultural robotization, especially in situations that require precise movement in limited space. Focusing on the harvesting task of strawberries in ridge culture, a 4-PPPR robot manipulator with three translational DOF and one rotational DOF...
Improving the overall performance of parallel mechanism is the bridge to connect the academia and industry for the great development and real-world application of parallel mechanisms. For the past research, scholars put more emphasis on optimizing the performance of parallel mechanisms in different aspects, e.g. dimensional optimization, error calibration, trajectory planning. This research, a methodology...
This paper presents the development of a micro-scale positioning device based on two degrees of freedom (DOF) plane compliant parallel mechanism, which is featured by piezo-driven actuators and flexure joints, integrated force/torque sensor that capable of delivering 2-DOF motions with high precision and providing real-time force/torque or position information for feedback control. With optimization...
Global Stiffness design and optimization of parallel mechanisms can be a difficult and time-consuming exercise in parallel robot design, especially when the variables are multifarious and the objective functions are too complex. To address this issue, optimization techniques based on kinetostatic model and genetic algorithms are investigated as the effective criteria. First, a 5-DOF parallel mechanism...
There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators which encompasses three degrees of freedom and can produce motion on a microscopic level is proposed and developed. In order to produce such motion, the mechanism is composed of compliant...
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