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This paper takes the 3-UPU parallel manipulator which possesses 3-D pure translational motion as a studying case. The sensitivity of degree of freedom (DOF) characteristics and kinematic errors resulting from various kinds of assembly errors is observed. Kinematic model of the manipulator is established, therefore, typical assembly errors are enumerated. Based on the model and particular probability...
This contribution presents different type of serial-parallel hybrid mechanisms by group theory and logical matrix. A novel representation and logical operation of spatial mechanisms are developed. The hybrid mechanisms can be categorized into two types, closed-type and opened-type hybrid mechanisms. According to the group theory and mobility criterion, the closed-type hybrid mechanisms can be determined...
A class of parallel manipulators known as rotary humanoid wrist (RHW), which is actuated by six circular motors on the circular base and dose not involve any prismatic joint, is analyzed based on screw theory. Model of RHW is build by using simulink tools with constant length limbs. The mobility of RHW is analyzed and the optimal combination of the main parameters for maximizing the workspace volume...
A metamorphic kinematic pair is proposed and a novel metamorphic mechanism with symmetrical structure is presented that employs only revolute joints. The metamorphic mechanism consists of a base plate, a moving platform and two identical connecting legs. Each connecting leg contains a closed-loop subchain with metamorphic kinematic pairs. An improved adjacency matrix is introduced to represent the...
We Presents a method for designing free gaits for structural symmetrical four-legged robot capable of performing statically stable, omnidirectional walking on irregular terrain. Robotpsila s virtual model is constructed and a control algorithm is proposed by applying virtual components at some strategic locations. The deliberative-based controller can generate flexible sequences of leg transferences...
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