Now showing items 1-2 of 2
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 ...
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 ...