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This paper presents a novel three degrees of freedom parallel manipulator based on flexure structure. There are three limbs connected with a moving stage and a fixed platform. Each limb is configured with a multilayer elastic driven mechanism and four flexure hinges. The kinematics model and Jacobian matrix is derived. Dexterity and workspace as two of the most important performance indices are investigated...
Accuracy is one of the most crucial factors which affects the profound laboratory research and extensive industrial application of parallel robotic manipulators. Kinematic calibration is a necessary approach to make the nominal value approximately equivalent to the actual value for the pose of end-effector under different input of actuation variables. Since the error source of parallel manipulator...
The novel design of a three-degree of freedom (DOF) parallel robotic structured hip exoskeleton is introduced in this research. An exoskeleton for walking typically is developed as an auxiliary mechanism which is used for the entire leg. This paper presents a biomimetic parallel manipulator which is only for the hip. An exhaustive mobility analysis and inverse kinematic solutions are derived in closed...
In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulatorpsilas functionality. Currently situated at the Ryerson University, the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on...
This paper presents a novel 2 DOF robotic arm wrestling system integrated with mechanical arm, elbow/wrist force sensors, servo motor, encoder, 3-D MEMS accelerometer, and USB camera. The arm wrestling robot (AWR) is used to play arm wrestling game with human for entertainment. Based on the force testing equipment, we acquire the data of surface electromyographic (EMG) signals form target muscle when...
In this paper, we develop a novel robotic arm wrestling system integrated with mechanical arm, elbow/wrist force sensors, servo motor, encoder, 3-D MEMS accelerometer, and USB camera. The arm wrestling robot (AWR) is intended to play arm wrestling game with real human on a table for entertainment. The designing scenario of the prototype model's hardware is performed. Elbow/wrist force sensors, as...
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