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In order to realize accuracy control, a trajectory planning algorithm is designed for the 4 DOF articulated eggplant-picking robot. The structure selection of the robot is made according to the eggplant's growth circumstance and distribution space. The robot kinematics model is established with D-H method and the forward kinematics solution for the robot is obtained. The inverse kinematics solution...
This paper presents the design of a novel serial and parallel master manipulator. Firstly, the mechanism configuration of the master manipulator with a novel serial and parallel mechanism is given. Parallel mechanism uses 3-RUU type to achieve position control, and serial mechanism adopts triaxial concurrent mechanism to realize posture control. Then, the kinematics analysis of the master manipulator...
The precision motion control problem of a virtual axis machine tool is addressed in this paper, which is still one of the biggest obstacles of commercialization of the virtual axis machine tool. Firstly, the kinematics analysis of the parallel mechanism of a 6-DOF virtual axis machine tool is made. Secondly, a joint-space trajectory planning based on the cycloid movement is conducted to ensure the...
According to the systematic method for topological structure synthesis of parallel mechanism, one parallel mechanism of two degree of freedom (2 - DOF) realizing 1 translation-1 rotation(1T-1R) is put forward with single-opened-chain (SOC) as a unit. The paper presents the structural analysis and position analysis of the parallel mechanism composed of two platforms mutually connected by two RPR and...
Aiming at the feature of picking for the biological fruits, an intelligent design of the 5 degree of freedom of lichi picking manipulator was introduced. Based on the first version of the manipulator, its mechanism and manufacture processes were improved, and the key technology in the mechanism design of the manipulator was studied, including some novel design thought and methods of the arm joint...
The minimally invasive surgery robot of five degrees of freedom has been developed for assisting surgeons to realize high quality and precise operation in Radio frequency ablation for patients with liver tumors. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Through studying of the structure of the...
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...
This paper proposes a scheme for the design, gaits planning and kinematics control of a hexapod robot. The robot is symmetrical structure with six identical legs. Each leg consists of three revolute joints which are actuated by position-controlled servos. The paper focuses on two crucial problems for multi-legged robot control, gaits planning and kinematics solving. Based on tripod gaits, a new turn...
This paper discusses the absolute positioning accuracy of a medical robotic system for minimally invasive spine surgery (MISS). First, the system architecture and main working flow are briefly introduced. Then, according to the requirement of MISS operation, a five-degree-of-freedom (5-DOF) operating mechanism is designed and developed for such applications, and a detailed analysis has been performed...
This paper presents a novel 3-DOF precision positioning stage for nanoimprint lithograph (NIL). Due to the advantages such as high positioning accuracy, dexterity, low inertial, and balanced mechanical structure, a piezo-driven flexure-based parallel mechanism is utilized. Based on Pseudo-Rigid-Body modelling theory, the kinematics of the stage is developed by simplifying the single-axis flexure hinges...
Motion control of mobile rehabilitation robot during centre-of-gravity shift is an intrinsic problem with mechanism. This paper deals with the motion control of an omnidirectional lower limbs rehabilitation robot during centre-of-gravity shift. The main research contents of this paper consist of two parts: 1) The dynamic model that considered centre-of-gravity position is integrated within the control...
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