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Reconfigurable deployable umbrella canopies
(Institute of Electrical and Electronics Engineers, 2018)
The kinematic design of reconfigurable deployable canopy mechanisms with radially distributed limbs are presented in this study. The mechanisms allow a compact form and are reconfigurable with several alternative deployed ...
Manipulator design for a haptic system with improved performance
This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in ...
Design and simulation of a novel hybrid leg mechanism for walking machines
This paper introduces a novel hybrid structure design that is composed of rigid links and cables for a robotic leg with static walking. The proposed mechanism is characterized by actuated hip joints, passive knee joints ...
Structural synthesis of 2R1T type mechanisms for minimally invasive surgery applications
Assistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should ...
A geometrical approach for the singularity analysis of a 3-RRS parallel manipulator
Identifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to ...