Robot technology is considered one of the most promising technologies to achieve
intelligent production, with picking robots being the most common type. Picking robots are …

This book starts with a short recapitulation on basic concepts, common to any types of robots
(serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic …

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a
fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical …

In this paper, a novel 4-DOF decoupled parallel manipulator with Schoenflies motions,
called the Pantopteron-4, is presented. This manipulator is able to perform the same …

Abstract Model-based methods lose their performance in confronting with model
uncertainties and disturbances. Accordingly, some degrees of adaptation to the involved …

DOF translational parallel manipulators have been developed in many different forms, but
they still have respective disadvantages in different applications. To overcome their …

基于传统解耦并联机构的定义, 并结合3 自由度转动解耦并联机构的研究现状,
提出一种广义解耦的概念. 在广义解耦中, 对机构的输出参数进行限定, 同一输出参数对应的运动 …

Robot manipulators are robotic systems that are frequently used in automation systems and
able to provide increased speed, precision, and efficiency in the industrial applications. Due …

This paper describes the structure synthesis of a special class of parallel manipulators with
fully decoupled motion, that is, a one-to-one correspondence between the instantaneous …

In this paper, a novel four degrees of freedom (DOFs) parallel manipulator (PM) is
introduced and its kinematics, workspace and optimal design are systematically studied. The …