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This paper intends to create a simulation of manipulator and illustrates the methods of how to implement robot control in a short time. Here we complete the grasp and place mission using Gazebo virtual world and Robot Operating System (ROS). ROS is a distributed framework that is widely used in robotics. Considering the advantages of its easier hardware abstraction and code reuse, ROS was chosen to...
The Mobile Parallel Robot (MPR) is a new type of robot which integrates the mechanical characteristics of Mobile Robot and Parallel Robot. It can adjust position and orientation to suit to many special situations. This paper firstly analyzes the kinematics characteristics of MPR, including the inverse kinematics and the forward kinematics using analytic method. A motion simulation based on COSMOSMotion...
Spinal surgery has its specifications. Different from minimal invasive like laparoscope surgery, there is no complex operations such as sewing, cutting or clamping. It is more important for spinal surgery to locate precisely and to keep reliable during operation. Robotic spinal surgical system (RSSS) is designed upon these principles. Tracking and navigation system in RSSS ensures high positioning...
In this paper, a novel type of parallel robot with four degree of freedoms is presented and investigated, which expends the family of few DOFs parallel robots. The parallel robot has two rotation and two translation degree of freedoms. The aspects about its configuration and kinematics analysis are discussed firstly, and a comparison of its singularity, workspace and dexterity are discussed in details...
As the quality of life is rising constantly, the fitness industry has developed quickly, and the innovation and development of fitness equipment has been in high demand. In this paper, a new type of fitness bike is introduced. It is the so-called FDBFB (four-drive bionic fitness bike) which can be driven by either hands or legs, or any combination of any hand and leg as the user likes. By changing...
In this paper a class of mobile parallel robots with the structural configuration of PPUU (Prismatic-Prismatic- Universal-Universal) is investigated in detail. Firstly a singularity analysis corresponding to different configured cases of the revolute axes of the robot's U-joint based on the screw theory is developed and a brief comparison of the four cases is carried out. Of all four configuration...
In this paper, a mechanism type synthesis is carried out for a class of mobile parallel robots (MPR) based on a systematic enumeration method, and the feasible configurations for the MPR are obtained. Then the inverse kinematics for the two typical mechanisms of PPRS and PPSR are derived. By a numerical approach, the workspace reachable in the Z-direction and the orientation workspace are obtained...
A novel 6-DOF parallel manipulator composed of two limited-DOF manipulators is proposed in this paper, the degree of freedom (DOF) of this manipulator is analyzed and the position kinematic modeling is established. The Jacobian matrix is derived by vector loops equations. The workspace is determined considering the interference check by the numerical method. Furthermore, the performance of the mechanism...
Based on the analysis of the first prototype of an assisting robotic arm (ARA) for minimally invasive thoracic surgery, an improved design is presented. A self-gravity compensation mechanism is developed to resist joint torques caused by the weight of the robot and to reduce the force exerted on the end-effector by the surgeon. With a motor built into the arm, the design of the ball-socket-joint is...
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