Design of 3 DoF and 6 DoF Force and Moment Balanced Manipulators Based on the Spatial Pantograph Linkage

ADAPT: A 3 Degrees of Freedom Reconfigurable Force Balanced Parallel Manipulator for Aerial Applications

In this work, we present the ADAPT, a novel reconfigurable force-balanced parallel manipulator with pantograph legs for spatial motions applied underneath a drone. The reconfigurable aspect allows different motion-based 3-DoF operation modes like translational, rotational, mixed, planar without disassembly. For the purpose of this study, the...

Design and Validation of Ungrounded Wrist Perturbator Based On Parallel Mechanism

The compliance (stiffness) of a human arm varies, depending on the task at hand. Some precise tasks require high stiffness, while others need a level of flexibility to deal with unknown disturbances. To describe this human behaviour a portable device is needed to give small force perturbations (input) while the resulting reaction of the arm ...

Cable-Driven Parallel Robot Design for Scanning 3D Art Objects

Cable Driven Parallel Robots, or CDPRs, might provide art historians and curators with an improved automated way of scanning 3D art objects. This application requires CDPRs to rotate around a 3D object with large panning and tilting, while avoiding collisions. While no designs exist for this purpose, this article investigates and proposes new...

Design and comparison of high speed cable driven parallel pick and place robots, performing a Schönflies motion

In cable driven parallel robots (CDPRs), the end effector or moving platform is actuated by multiple cables in parallel that are wound on winches, which are located on a frame. Compared to classical parallel robots, such as the Delta robot, CDPRs have a lower inertia due to low cable masses. Therefore, they can perform high speed motions with a...

Techniques to synthesize Inherently Force Balanced Mechanisms

In mechanisms and machines, elements' motions can generate reaction forces and moments on the base of the mechanism, which are called shaking forces and shaking moments. These induce vibrations of the base, which create noise, wear and fatigue problems and reduce the accuracy of the systems. Dynamic balancing is a solution to eliminate these...

Synthesis and Control of a 3 Degrees of Freedom Inherently Dynamically Balanced Manipulator for an Unmanned Aerial Vehicle

In aerial manipulation, Unmanned Aerial Vehicles (UAVs) are equipped with manipulators to perform a variety of tasks such as inspections of critical infrastructure at heights. A fundamental issue is that the shaking forces and moments of the manipulator cause the UAV to tip-over and become unstable. Control based methods have been applied in...

Reducing settling time in high acceleration applications of macro scale robotic manipulators with dynamic balancing

High accelerations in unbalanced robotic manipulators can induce significant base vibrations, which reduces precision and increases settling time. These vibrations are caused by fluctuating reaction forces and reaction moments exerted on the base by the manipulator. Dynamic balancing eliminates these fluctuations and therefore improves...

Synthesis of Inherently Moment Balanced Robotic Manipulators

In robotics, machine elements are accelerated in order for the machine to perform certain tasks, such as picking and placing objects. These accelerations result in inertia forces and inertia torques on the machine elements and on the base of the machine. These reaction forces and reaction torques on the base are called shaking forces and shaking...

Compliant Manipulator Design method: Applied for designing a 4-DoF manipulator with a TTTR-motion

Current multi-DoF compliant manipulators are still rarely implemented in the industry because their range of motion (ROM) is limited as their designs are heavy and bulky or obtained by a serial set of multiple stacked flexure systems, which limits their compactness. The goal of this article is to overcome these limitations by considering them as...

Design for additive manufacturing of decoupled compliant mechanisms: With an example of a monolithic adjustable mount

Perturbation training to reduce fall risk in elderly: validating the quantified recovery performance measure by means of the assessment by physiotherapists

Implementation of perturbation training for elderly requires a validated measure to quantify someone’s ability to recover<br/>when encountering a perturbation. A quantified recovery performance has been constructed for the anteroposterior<br/>(QRP_AP) and for mediolateral (QRP_ML) plane, the QRP_AP and QRP<sub>ML<...