5 accepted papers
A 3-DOF force-controlled end-effector based on a parallel mechanism is an effective approach for high-precision polishing in industrial applications. However, the dynamic modeling of rigid-flexible coupling in parallel mechanisms, as well as the decoupled control of friction and coupling forces, rem
Achieving fast transient response and high steady-state tracking accuracy of joint torque for flexible joint systems with dynamic constraints, various parameter uncertainties, and uncertain nonlinearities is always challenging. To this end, a torque control scheme based on multi-torque sensors is pr
The 4-DOF (3T1R) 4 <underline xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">P</u> Pa-2PaR parallel manipulator is developed for high-speed pick-and-place operations. However, conventional trajectory planning methods in either active-joint space or Cartesia
This article proposes a sampling-based motion assignment strategy for coordinated motion planning of macro-micro robotic systems. It is used to achieve performance enhancements while solving joint trajectories. The sampling strategy is implemented by traversing a series of feasible sets generated by
A new four degrees-of-freedom (DOF) parallel manipulator that can produce 3-DOF translations and 1-DOF rotation (3T1R), has been proposed in this paper. It has two identical limbs connected to the moving platform through passive revolute joints, and each limb has two identical branches driven by a p…