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...

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...

Design and analysis of cable-driven parallel robot CaRISA: A cable robot for inspecting and scanning artwork

Cultural heritage science envisages understanding of methods and techniques used by past painters and sculptors in creating their masterpieces of art. Existing devices for in situ and non-destructive, automated scanning are large and bulky and built around the assumption of a perfectly planar surface. We are developing a lightweight, portable...

Incremental nonlinear control of hydraulic parallel robots: An application to the SIMONA research simulator

In advanced robotic applications such as robotic locomotion, vehicle and flight simulators, and material test devices, there are higher requirements on stiffness, robustness and power ability for the mechanical structure and the actuator. Hence, it is common for such applications to use parallel manipulators and hydraulic actuators, due to their...

Long-Stroke Hydraulic Robot Motion Control With Incremental Nonlinear Dynamic Inversion

High precision motion control of hydraulic manipulators is challenging due to the highly nonlinear dynamics and model uncertainties typical for hydraulic actuators. This paper addresses the implementation of a novel sensor-based incremental nonlinear dynamic inversion control technique for a high-precision hydraulic force controller in existence...

Analysis and control design of a cable-suspended parallel robot under consideration of non-linear effects

Improved Stewart platform state estimation using inertial and actuator position measurements

Accurate and reliable estimation of the kinematic state of a six degrees-of-freedom Stewart platform is a problem of interest in various engineering disciplines. Particularly so in the area of flight simulation, where the Stewart platform is in widespread use for the generation of motion similar to that experienced in actual flight. Accurate...

Parallel Robots with Configurable Platforms

This thesis explores the fundamentals of a new class of parallel mechanisms called parallel mechanisms with configurable platforms as well as the design and analysis of parallel robots that are based on those mechanisms. Pure parallel robots are formed by two rigid links, the base and the end-effector, connected in parallel by independent serial...

Adapting Robot Architecture for Pick and Place

Pick and place robots are very popular in industry as they provide speedy and precise handling applications. They are especially practical in repetitive work as they can work long time with a faster and more accuracy motion than humans. Compared with serial manipulator, parallel robots have the advantages of high accuracy, high rigidity and high...

Actuator and Sensor System Design of a Haptic Parallel Robot

This thesis describes the main work that I have done on my final MSc. project at Delft University of Technology. My project is a part of the design of a haptic tele-operated microassembly system within the group of Precision and Microsystems Engineering (PME) at the faculty Mechanical, Maritime and Materials Engineering (3ME). My work has...