Journal ArticleDOI
A stiffness analysis for a hybrid parallel-serial manipulator
TLDR
A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness and design parameters of the mechanical design and a formulation is proposed for a stiffness performance index by using the obtained stiffness matrix.Abstract:
In this paper a hybrid parallel-serial manipulator, named as CaHyMan (Cassino Hybrid Manipulator), is analyzed in term of stiffness characteristics as a specific example of a general procedure for analyzing stiffness of parallel-serial manipulators. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness and design parameters of the mechanical design. A formulation is proposed for a stiffness performance index by using the obtained stiffness matrix. A numerical investigation has been carried out on the effects of design parameters and fundamental results are discussed in the paper.read more
Citations
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Journal ArticleDOI
Kinematics and dynamics of 2(3-RPS) manipulators by means of screw theory and the principle of virtual work
Jaime Gallardo-Alvarado,Carlos R. Aguilar-Najera,Luis Casique-Rosas,José M. Rico-Martínez,Md. Nazrul Islam +4 more
TL;DR: In this paper, the kinematic and dynamic analyses of a specific class of series-parallel manipulators known as 2(3-RPS) manipulators are approached via the theory of screws and the principle of virtual work.
Journal ArticleDOI
Solving the kinematics and dynamics of a modular spatial hyper-redundant manipulator by means of screw theory
Jaime Gallardo-Alvarado,Carlos R. Aguilar-Najera,L. Casique-Rosas,L. Pérez-González,José M. Rico-Martínez +4 more
TL;DR: In this paper, the kinematic and dynamic analyses of a modular spatial hyper-redundant manipulator built with an optional number of serially connected three-legged in-parallel manipulators are presented.
Journal ArticleDOI
An active hybrid parallel robot for minimally invasive surgery
TL;DR: The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M and some numerical and simulation results of the developed experimental model with its system control are also described.
Journal ArticleDOI
Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery
TL;DR: The geometric and kinematic models of a new surgical hybrid robot used for camera and active instruments positioning are presented in this article, where the robot workspace is computed and illustrated following the singularities analysis.
Journal ArticleDOI
A review of spherical motion generation using either spherical parallel manipulators or spherical motors
TL;DR: In this paper, the authors review the state-of-the-art of spherical motion generation by means of parallel manipulators or spherical motors and present new research problems and future developments.
References
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Book
The Theory of Matrices
TL;DR: In this article, the Routh-Hurwitz problem of singular pencils of matrices has been studied in the context of systems of linear differential equations with variable coefficients, and its applications to the analysis of complex matrices have been discussed.
Book
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
TL;DR: In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.
Book
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
TL;DR: Robot Analysis offers an in-depth treatment of position analysis, Jacobian analysis, statics and stiffness analysis, and dynamical analysis of both types of manipulators, including a discussion of industrial and research applications.
Book
Stiffness and Damping in Mechanical Design
Eugene Rivin,B. Balachandran +1 more
TL;DR: In this paper, the authors define stiffness of structural components, modes of loading nonlinear and variable stiffness systems, preloading contact (joint) stiffness and damping supporting systems and foundations stiffness of power transmission systems and drive design techniques for reducing structural deformations.