10 accepted papers
This paper presents the design and experimental validation of a magnetic end-effector optimized for the robust manipulation of a tethered magnetic endoscope in six-degrees-of-freedom (6-DoF). The symmetrical end-effector integrates two pairs of permanent magnets that generate a stable 2D attraction …
This paper presents the design and experimental validation of a magnetic end-effector optimized for the robust manipulation of a tethered magnetic endoscope in six-degrees-of-freedom (6-DoF). The symmetrical end-effector integrates two pairs of permanent magnets that generate a stable 2D attraction
We introduce in this paper an original planning algorithm, Zoned Artificial Repulsion (ZAR<sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∗</sup>), designed for multiple-robot micromanipulation. The algorithm combines a modified Artificial Potential Fie
This article presents a new robot concept dedicated to fast and energy-efficient waste sorting applications. This parallel robot can provide at the same time the three translations in space (3-DoF) and the opening/closing of a built-in gripper (1 additional DoF). The movement of the clamp is enabled
Parallel Continuum Robots (PCR) have received a lot of attention in recent years. This paper presents a new 6-degrees-of-freedom PCR derived from the conventional 3-PPSR parallel manipulator. This robot is driven by three limbs consisting of two flexible rods each and replacing the spherical and rev…
In many cases, soft and continuum robots represent an interesting alternative to articulated robots because they have the advantages of miniaturization capability, safer interactions with humans and often simpler fabricating and integration. However, these benefits are usually considered to arise at
Parallel robots with configurable platforms (PRCPs) combine the benefits of parallel robots with additional functionalities such as grasping and cutting. However, some of the theoretical tools used to study classical parallel robots do not apply to parallel robots with configurable platforms. This p…
Two-fingered manipulation robotic systems are widely used in many application sand notably at small scales. The commonly employed solution is based on the attachment of a gripper on a robot. This paper introduces a new eight degrees of freedom (DoF) mechanism intended for two-fingered dexterous mani…
This paper presents preliminary results of a new robotic wrist for minimally invasive surgery. This wrist is a high-dexterity miniature robot, able to provide simultaneously the grasping/cutting (1-DoF) and rotations capabilities with 3-DoF. The grasping function is insured by the folding of the top…
Dexterous micro-manipulation is a promising way to perform complex manipulation in micro-scale. Current dexterous micro-handling solutions are often limited to small amplitude rotations (around 90°) and to simple shaped objects (such as squares). Our approach consists in developing in-hand micro-man