... engineering dexterous manipulators Pareto optimisation In contrast to anthropomorphic robots, parallel manipulators have better structural characteristics, better positioning accuracy, and great capacity to achieve higher accelerations. However, as is known, the size of their workspace is generally...

... of the compliant structures to compute the paths generated by these mechanisms, with the resulting optimal designs used to realize various manipulator configurations. 16 07 2009 31 01 2010 22 03 2010 22 03 2010 dexterous manipulators genetic algorithms geometry topology...

... 01 2010 Birglen , L. , Laliberté , T. , and Gosselin , C. M. , 2008 , “ Underactuated Robotic Hands ,” Springer Tracts in Advanced Robotics , Springer-Verlag , Berlin , Vol. 40 . Bicchi , A. , 2000 , “ Hands for Dexterous Manipulation and Robust Grasping...

... Comparison of Planar Parallel Manipulators ,” IRCCyN Internal Report No. IRCCyN091023. algebra dexterous manipulators manipulator kinematics position control sensitivity analysis Variations in the geometric parameters of parallel kinematics machines (PKMs) can be either compensated...

... of the optimum design of the manipulator, a second objective being a normalized workspace volume. Finally, the results of the optimization process are reported in terms of a set of Pareto-optimum pairs of the design parameters. 31 01 2008 25 11 2008 26 01 2009 dexterous manipulators...

... shape memory alloy shape optimization robotic finger design engineering dexterous manipulators optimisation shape memory effects 17 03 2008 24 10 2008 21 01 2009 The transient motion of the finger due to SMA wire actuation is recorded in Fig. 19 . The three M-shaped...

... are parallel regardless of the common direction or where they all meet at a common point. 13 02 2007 05 10 2007 15 04 2008 dexterous manipulators Jacobian matrices manipulator kinematics 2 Higher accuracy, speed, and payload-to-weight ratio are the major advantages...

... 2007 27 12 2007 cartons dexterous manipulators industrial control industrial manipulators manipulator kinematics packaging Rapid expansion of robotics and automation technology in recent years has led to development of robots in packaging industry. Though pick and place robots...

... of friction on insertion force (Example II(a); μ = 0 , 0.2, 0.4; w = 0.0032 m ) 27 07 2006 09 02 2007 07 12 2007 compliance control design engineering dexterous manipulators finite element analysis grippers industrial manipulators mechanical contact...

... manipulator kinematics dexterous manipulators design engineering parallel manipulators mechanism design kinematics singularity isotropy workspace dexterity In recent years, the progress in the development of parallel manipulators (PMs) has been accelerated since PMs possess many...

... on this plane and its characteristic elements like the equilibrium curve can be found in ( 14 ). 03 11 2004 13 04 2005 design engineering dexterous manipulators mechanical contact couplings actuators Until now, the human hand remains unmatched despite numerous and interesting...

... to an increase in parallel mechanisms’ popularity. However, this has not yet materialized. design engineering genetic algorithms dexterous manipulators Example of a 3- R ̱ RR mechanism optimized according to α and S with ϕ = 30 deg Example of a 3-R P...

... in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Jan. 2000. Associate Editor: G. S. Chirikjian. 01 Jan 2000 16 05 2002 dexterous manipulators controllers design engineering actuators haptic interfaces telecontrol A haptic interface often called a “master” is used...

...Changquing Li, Graduate Student; Christopher D. Rahn, Mem. ASME, Associate Professor Continuous backbone robots driven by cables have many potential applications in dexterous manipulation for manufacturing and space environments. Design of these robots requires specification of a stiff yet bendable...

... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Apr. 2001. Associate Editor: M. Raghavan. 01 Apr 2001 16 05 2002 robots manipulator kinematics dexterous manipulators mechanical contact closed loop systems Structural Characteristics...

... Technical Editor: V. Kumar 01 Dec 1998 robot kinematics dexterous manipulators industrial manipulators design engineering Typical mechanical wrists consist of a serial chain of three successively orthogonal and mutually intersecting rotations. See Tsai 1 for a discussion...