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Static force balancing of a 2R1T parallel manipulator with remote center of motion
Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope ...
A critical review of unpowered performance metrics of impedance-type haptic devices
A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic ...
Conceptual design of a 2-DoF planar high-speed industrial parallel manipulator
This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated ...