Topic
Parallel manipulator
About: Parallel manipulator is a research topic. Over the lifetime, 10330 publications have been published within this topic receiving 138634 citations.
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TL;DR: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte.
Abstract: Optimisation de la cinematique d'un manipulateur utilisant un mecanisme parallele spherique a trois degres de liberte
812 citations
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TL;DR: A review of the literature on the six-degree-of-freedom parallel manipulator commonly known as the Stewart platform can be found in this article, where the authors highlight the distinctions of this class from the conventional serial robot manipulators and the novel perspectives that are necessary for the analysis and design of the Stewart platforms in particular and parallel manipulators in general.
637 citations
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01 Jan 2007TL;DR: This work reviews how well kinetostatic performance indices are appropriate for parallel robots and identifies several that are not appropriate for serial robots.
Abstract: Parallel robots are nowadays leaving academic laboratories and are finding their way in an increasingly larger number of application fields such as telescopes, fine positioning devices, fast packaging, machine-tool, medical application. A key issue for such use is optimal design as performances of parallel robots are very sensitive to their dimensioning. Optimal design methodologies have to rely on kinetostatic performance indices and accuracy is clearly a key-issue for many applications. It has also be a key-issue for serial robots and consequently this problem has been extensively studied and various accuracy indices have been defined. The results have been in general directly transposed to parallel robots. We will now review how well these indices are appropriate for parallel robots.
505 citations
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08 Apr 2003TL;DR: A human-assisting manipulator teleoperated by electromyographic signals and arm motions that can realize a new master-slave manipulator system that uses no mechanical master controller and that could assist the amputee in performing desktop work is proposed.
Abstract: This paper proposes a human-assisting manipulator teleoperated by electromyographic (EMG) signals and arm motions. The proposed method can realize a new master-slave manipulator system that uses no mechanical master controller. A person whose forearm has been amputated can use this manipulator as a personal assistant for desktop work. The control system consists of a hand and wrist control part and an arm control part. The hand and wrist control part selects an active joint in the manipulator's end-effector and controls it based on EMG pattern discrimination. The arm control part measures the position of the operator's wrist joint or the amputated part using a three-dimensional position sensor, and the joint angles of the manipulator's arm, except for the end-effector part, are controlled according to this position, which, in turn, corresponds to the position of the manipulator's joint. These control parts enable the operator to control the manipulator intuitively. The distinctive feature of our system is to use a novel statistical neural network for EMG pattern discrimination. The system can adapt itself to changes of the EMG patterns according to the differences among individuals, different locations of the electrodes, and time variation caused by fatigue or sweat. Our experiments have shown that the developed system could learn and estimate the operator's intended motions with a high degree of accuracy using the EMG signals, and that the manipulator could be controlled smoothly. We also confirmed that our system could assist the amputee in performing desktop work.
492 citations
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01 Jun 1988TL;DR: The dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator provides a basis for future theoretical research to develop the control scheme, for experimental research to estimate the inertia parameters, and for design optimization of the prototype manipulator.
Abstract: The dynamic analysis of a three-degrees-of-freedom in-parallel actuated manipulator is presented. The equations of motion have been formulated in joint-space using the Lagrangian approach. The analysis provides the solution to predict the forces required to actuate the links so that the manipulator follows a predetermined trajectory. A dynamic simulation program illustrates the influence of the link dynamics on the actuating force required. An example of tracing a helical path is chosen to illustrate the dynamic simulation and to show that the Cartesian position of the moving platform may be controlled at a sacrifice of orientation freedoms. The dynamic analysis provides a basis for future theoretical research to develop the control scheme, for experimental research to estimate the inertia parameters, and for design optimization of the prototype manipulator. >
459 citations