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Keywords: parallel robot
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Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A051, August 14–17, 2022
Paper No: DETC2022-90117
... Abstract This paper proposes a novel approach to providing series elastic actuation for parallel robots. Current series elastic actuators (SEA) are limited to providing single degree-of-freedom (DoF) series elastic actuation. To provide series elastic actuation for each DoF of a parallel robot...
Proceedings Papers

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A032, August 14–17, 2022
Paper No: DETC2022-89968
..., and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot...
Proceedings Papers

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 947-953, August 30–September 2, 2009
Paper No: DETC2009-86162
... 30 07 2010 A CAD variation geometry approach is proposed for accurately solving the position-orientation, linear velocity/acceleration, and Euler angular velocity/angular acceleration of a symmetrical 3-dof 3-UPU parallel robot. Based on the finite-difference method as the foundations...
Proceedings Papers

Proc. ASME. IDETC-CIE2008, Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B, 797-804, August 3–6, 2008
Paper No: DETC2008-49263
... industrial establishment. In order to overcome some of these drawbacks, development of specific and optimized robot components, like rods or joints, becomes necessary. Development of joints for parallel robots is determined by numerous contradictory requirements which cause different goal conflicts...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 297-306, September 4–7, 2007
Paper No: DETC2007-34743
... 22 05 2009 In this paper a new method for derivation and verification of rigid and flexible body kinematic and dynamic models of complex parallel robots including crank mechanisms is presented. The rigid body kinematic model is based on standard frame transformations and involves...
Proceedings Papers

Proc. ASME. IDETC-CIE2007, Volume 8: 31st Mechanisms and Robotics Conference, Parts A and B, 1031-1039, September 4–7, 2007
Paper No: DETC2007-34540
... 22 05 2009 Parallel robots are showing a high potential for the application in machine tools requesting high stiffness and dynamics. Nevertheless, a broad use of parallel mechanisms in machine tools is nowadays avoided by the minor accuracy of parallel kinematic machines compared...
Proceedings Papers

Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 195-203, September 28–October 2, 2004
Paper No: DETC2004-57069
... 30 06 2008 This paper presents a planar parallel robot, built of spread-band elements. The robot has a workspace that exceeds its original size by far. The mass of the mechanical structure is extremely low, allowing accelerations up to 120 m/s 2 . A spread-band element consists...
Proceedings Papers

Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1159-1164, September 2–6, 2003
Paper No: DETC2003/DAC-48826
... 19 06 2008 In this paper an optimization method based on the Mechanics of Parallel Robots and orientated on workspace is conducted in the construction of 6-HTRT parallel robot. By analyzing the characteristics of specific workspace and setting up objective functions, optimizations...