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The development and the test of a palm size finless torpedo shaped micro autonomous underwater vehicle (AUV) named Lancelet are presented. The vehicle has a diameter of 60 mm and only weighs 570 g. It has no appendages such as rudders, elevators, external propellers or other unprotected moving surfaces, which might increase the drag of the vehicle and interfere with the underwater obstacles. A novel...
An end-effector is designed and prototyped as the mini manipulator in a macro-mini system. It has properties of fast response and high resolution in position control and force control. In this paper, a directional force control algorithm of the end-effector is introduced targeting on the application of polishing and deburring. The dynamic model of the end-effector is estimated by the approach of frequency...
In force control applications where a robot end-effector is required to interact with the environment or the workpiece, the dynamic of the environment plays an important role. The environment dynamic may influence the performance of the controlled system, especially the performance in transient period. In order to avoid tuning the controller constantly with the changing environment, a robust control...
A parallel mechanism has advantages such as high stiffness, low inertia and compact in size. It is a desired mechanical structure to be used as the mini manipulator in a macro-mini manipulator system. In this paper, a 3-DOF parallel mechanism is presented. The end-effector module will serve as the mini manipulator in a macro-mini system for in-contact industrial finishing applications such as polishing...
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