Automation in Horticulture:: Design and Evaluation of a Cost-Effective Parallel Robot Arm

This thesis presents the conceptual development of an innovative parallel manipulator that leverages the beneficial attributes of parallel kinematic structures. These attributes include increased stiffness, uniform load distribution, and reduced moving mass, which are strategically incorporated into the design to enhance resource efficiency....

Dynamic Analysis and Trajectory Tracking Control for a Parallel Manipulator with Joint Friction

To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. The movements and driving forces of the parallel manipulator under the required motion and loading...

End effector admittance control of parallel manipulators without force sensor

A telemanipulation system lets a human operator manipulate an environment on distance, using a master and a slave device, which are connected by a bilateral controller that controls the master and the slave device and provides the communication between these devices. The master device is manipulated by the operator and these actions are...

Integrated Stiffness Analysis of Redundant Parallel Manipulator Based on Finite Element Method

An integrated stiffness model is established for a Planar Parallel Manipulator (PPM) with actuation redundancy based on Finite Element Method (FEM), and the static stiffness, dynamitic stiffness and moving stiffness of the PPM are analyzed according to the integrated stiffness model. Firstly, a dynamic model of flexible plane beam element is...

Forward Kinematic Analysis of Tip-Tilt-Piston Parallel Manipulator using Secant-Bootstrap Method

This paper, deals with application of the Secant-Bootstrap Method (SBM) to solve the Closed-form forward kinematics of a new three degree-of-freedom (DOF) parallel manipulator with inextensible limbs and base-mounted actuators. The manipulator has higher resolution and precision than the existing three DOF mechanisms with extensible limbs. This...