Resent advances in arc welding technology motivate rethinking of some postulates and conventions incorporated in the existing robot control methods. This chapter addresses relaxing of the downhand-position assumption, which became a de-facto standard in robotic welding and requi…
The paper has presented a complete methodology for the identification of the geometrical parameter set necessary to describe inaccuracy in the kinematic structure of a generic parallel manipulator. The methodology, that can be applied to any existing PKM, supplies a minimum, com…
This chapter is mainly concerned with the application of ANNs to modeling and control of parallel manipulators. A practical implementation is completed to emulate the operation of.
We have shown a dexterous micromanipulation system based on single-master and multislave device configuration and its deformable object micromanipulation such as styrene block and roe. The system enables 6 d.o.f. object position control using 2 parallel mechanism micromanipulato…
In this chapter, a new class of translational parallel manipulator with 3-PCR architecture has been proposed. It has been shown that such a mechanism can act as an overconstrained 3DOF translational manipulator with some certain assembling conditions satisfied. Since the.
In this chapter, we proposed to use neural networks for FK solution of HEXA robot, which can be elaborated to generate the best estimation of forward kinematics of the robot. The research results in this chapter are quite important as they solve a problem for which there is no k…
The genetic algorithms (GA) have the great advantage and success in the solution of NP problems. There are various important applications on this way. In this study, the job with n-number of precedence constraints is assigned minimizing total earliness and tardiness and maximum …
A general idea for type design of decoupled parallel manipulators with lower mobility is introduced. A unified frame for the type design is provided and divided into two independent aspects. Some kinds of decoupled parallel manipulators with 3-dofs pure translational and 2-dofs …
This chapter deals with tactile displays and their mechanisms. We briefly reviewed research history of mechanical type tactile displays and their parallel arrangement. And this chapter mainly describes two systems including tactile displays. The 5x6 pin arrayed tactile display w…
The article has described an innovative spherical parallel wrist developed at the Polytechnic University of Marche in Ancona, revisiting all the main design steps, from kinematic synthesis up to physical prototyping. Machine kinematics has been worked out in closed form and all …
