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In this paper, the H∞ control method as the static acceleration feedback was put forward concerned with structural uncertainty and actuator saturation. The sufficiency and necessary condition that the controller existed was proved. By simulation, it was shown that the structure could hold the favorable stability by H∞ robust control technique.
A five-bar linkage mechanism with two active and three passive (end-effector rotations) degrees-of-freedom was designed as a haptic device and integrated inside a developed application in Matlab/Simulink using Handshake proSENSE toolbox for the haptic and graphic rendering, as well as the control loop and the external communication, achieving a realtime system for virtual reality based rehabilitation...
When dealing with the design of robotic fingers driven by tendons, one can be inspired by the human index finger tendon distribution. The structure of the designed robot finger has to minimize the number of tendons required without sacrificing either the actuated degree of freedom or the maximal output force produced at the fingertip. In this paper, a biomechanical study of the index finger under...
Load capacity of a spatial rotation 4-SPS-S parallel manipulator has been studied in this paper. The 4-SPS-S parallel manipulator has spatial three pure rotation degrees of freedom, including four SPS active legs and one passive constraining leg, which can be used as heavy-loading vehicle kinematic simulation devices, precise positioning mechanism of tunnel erecter assembly robots in tunnel shield...
A universal improved nonlinear longitudinal model of hypersonic developed by Langley lab is adopted. For the I/O linearizing model, a sliding mode controller is designed. This method can solve the uncertainty problem and insensitive to disturbance of outside. The index approach law used to drive the sliding mode to reach the sliding surface is adopted to eliminate the quiver. The simulation for tracking...
This paper addresses the issue of performance evaluation of parallel manipulators. In the analysis and design process of parallel manipulators, the performance evaluation is the most important problem. The developed index will be fundamentally involved in the process, especially in that of optimum design. Although parallel manipulators have been extensively studied for more than twenty years, unfortunately,...
Static analysis plays an important role on the design and applications of manipulators. In this paper, the torque balance equations of a 3-DOF spherical parallel manipulator are derived. Then the torque transmission capacity evaluation index and the global index are defined and discussed in detail on the base of the torque balance equations. At last, the geometrical parameters of the spherical parallel...
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