Search
Search Results
-
Kinematic Analysis and Design Optimization of 2UPR-2RPU Redundant Parallel Manipulator
To improve position accuracy, stiffness and transmission characteristics of parallel manipulator the method of redundant actuation is need to be...
-
Fault Mode Probability Factor-Based Fault-Tolerant Control for Dissimilar Redundant Actuation System
This chapter introduces an approach for fault-tolerant control (FTC) in a dissimilar redundant actuation system (DRAS) comprising hydraulic (HA) and...
-
Design of redundant actuated parallel leg mechanism without constraint/actuation singularity
This paper proposes the nonsingular design principle, which can completely eliminate constraint/actuation singularity in parallel mechanism (PM), and...
-
Comparison of internal force antagonism between redundant cable-driven parallel robots and redundant rigid parallel robots
The internal force antagonism (IFA) problem is one of the most important issues limiting the applications and popularization of redundant parallel...
-
Kinematic Analysis of a Novel Actuation Redundant 3-DOF Parallel Manipulator Based on Parallelogram-Linkage
The passive joints occurring in the parallel robots require additional steps to be calculated, which may lead to complicated analytical kinematic and...
-
Energy-Efficient Kinematically Redundant Actuation
Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units...
-
Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios
This paper analyzes operational space dynamics for redundant robots with un-actuated joints and reveals their highly nonlinear dynamic impacts on...
-
Comprehensive Reliability of Aircraft Actuation System
Aircraft actuation system receives commands from the flight control computer and drives the plane surface to realize the aircraft flight attitude and...
-
Recent Developments of Actuation Mechanisms for Continuum Robots: A Review
Traditional rigid robots face significant challenges in congested and tight environments, including bulky size, maneuverability, and safety...
-
Convex Optimization-Based Fault-Tolerant Control for Dissimilar Redundant Actuation System of Civil Aircraft
This chapter introduces a novel approach to enhance the reliability and safety of modern commercial aircraft through convex optimization-based...
-
Static Shape and Stress Control of Trusses with Optimum Time, Actuators and Actuation
Traditional shape and stress control of structures use many actuators and require enormous time to find reasonable solutions that need designers to...
-
Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism
The singularity problem brings troubles to the design and application for the parallel mechanism. Currently, redundant actuation is one of the useful...
-
The actuation and control of a bioinspired origami manipulator
Origami is a traditional art initiated in China, and then, it has been widely used in Japan. Nowadays, many studies oriented on soft-body robotics...
-
Design of a torsional stiffener for a cable-driven hyper-redundant robot composed of gear transmission joints
This work describes the advancement in develo** a cable-driven gear transmission joint designed as a basic element for a long-reach hyper-redundant...
-
XK-III: A Spherical Robot with Redundant Degrees of Freedom
The spherical robot XK-III, designed with redundant degrees of freedom, addresses the limitations of existing pendulum spherical robot structures by...
-
Safe and compliant control of redundant robots using superimposition of passive task-space controllers
Animals are capable of robust and reliable control in unstructured environments, where they effortlessly overcome the uncertainty of interaction and...
-
Dexterity, Workspace and Performance Analysis of the Conceptual Design of a Novel Three-legged, Redundant, Lightweight, Compliant, Serial-parallel Robot
In this article, the mechanical design and analysis of a novel three-legged, agile robot with passively compliant 4-degrees-of-freedom legs,...
-
Health Monitoring Methodologies for Aerospace Electromechanical Actuation Systems
Electrical actuation concept fits within the worldwide strategy of more electric aircraft. However, the integration of linear electromechanical...
-
Motion/Force Transmission Performance Analysis and Optimization of Parallel Manipulators with Actuation Redundancy
Over the last few decades, PMs with actuation redundancy have attracted increasing attention in both academia and industry.
-
Bio-inspired Motor Control Strategies for Redundant Manipulators
Cable-driven manipulators with agonist–antagonist (A-A) actuation mechanisms are devised and developed, inspired by the physiology of human muscles....