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The development of mobile robots is related to multidisciplinary areas of mechanics, electronics, computing and biology. Current research have made possible the development of robots that assist in exploration, rescue and rehabilitation, using artificial intelligence techniques, optimization and dynamic analysis of multibody systems. This work aims the synthesis of a humanoid robot and presents the...
This paper presents a reasoned approach to specifying the number of degrees of freedom on a power line-mounted inspection robot, which is capable of climbing around obstacles found on overhead conductors, including jumper cables. A summary of the robot's hardware design is also provided, with experience gained on a first prototype influencing major design aspects on a second prototype, which in turn...
This paper presents the design and control of a Stewart-Platform. The Stewart platform is designed based on a set of six independently prismatic actuators. The actuators translate through spherical joints which reside on a stationary platform. Each strut is driven by a DC motor. In this paper, kinematic characteristic and its limitation are discussed. Simulations and experiments are conducted to evaluate...
The dawn of next generation robots and systems era which is quietly emerging, requires miniaturized and integrated sensors, actuators, and entire microrobots. One of the defining characteristics of these microsystems is their multiscale nature, e.g., the span of their size, features, and tolerances across multiple dimensional scales, from the meso to the micro and nanoscales. Another defining characteristic...
Modeling of working space and parameters optimization of the parallel mechanisms with the linear actuators located on the base with six kinematic chains are considered. The purpose is to achieve an increase in functionalities of parallel mechanisms in view of their possible singularities, as criterion of optimization the maximum of working volume.
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