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Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 11 of 11 for “"serial manipulators"”.
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Kinematic Calibration of Serial Manipulators Using Relative Measurements
… is necessary to enhance the accuracy of robotic manipulators. It is typically desired to perform this task in both a cost-effective and time-efficient manner. Many techniques exist in the literature that achieve both goals. In this thesis, a novel model-based kinematic calibration method using …
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Design of a robotic manipulator using variable geometry trusses as joints
Parallel robotic manipulators are generally believed to be stiffer under load and more precise than conventional serial manipulators. This is because of their closed loop construction which allows forces to be shared through multiple paths to the ground. Unfortunately, most proposed parallel …
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Mobility analysis of variable geometry trusses
Parallel manipulators are being thought of as a solution to many problems involving control and manipulation. They offer significant advantages over serial manipulators in terms of increased strength and rigidity. Variable geometry trusses (VGTs) are a special class of parallel trusses. Literature …
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Topological analysis of singularity loci for serial and parallel manipulators
Singularities of robot manipulators have been intensely studied in the last decades by researchers of many fields. Serial singularities produce some local loss of dexterity of the manipulator, therefore it might be desirable to search for singularityfree trajectories in the jointspace. On the other …
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Design and control of a robotic cable-suspended camera system for operation in 3-D industrial environment
… robots offer many advantages over conventional serial manipulators. The main benefit of cable robots is their large workspace size, which makes them well suited for broadcasting, transporting/loading, and construction applications. Since cables can only pull and not push the end-effector …
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Planar robotic mechanisms: analysis and configuration comparison
… as a potential alternative to the existing serial industrial robot. Serial robots are in a cantilever configuration which makes them relatively compliant and Ieads to poor accuracy. Many serial manipulators have motors that are carried on moving links which limits dynamic performance. …
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Improved design of three-degree of freedom hip exoskeleton based on biomimetic parallel structure
… unit for walking typically is designed as a serial mechanism which is used for the entire leg or entire body. This thesis presents a design as a partial manipulator which is only for the hip. This has better advantages when it comes to marketing the product, these include: light weight, easy …
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Mechanical design of the Carpal wrist: a parallel-actuated, singularity-free robotic wrist
Parallel robotic manipulators offer potential advantages over the more conventional serial manipulators, such as a higher stiffness-to-weight ratio and more precise control. However, their use as base manipulators and robotic wrists has been limited by their more complicated kinematic solutions …
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Modeling, estimation and control for serial flexible robot arms
… inefficient, and potentially dangerous serial link manipulators. Industry has been reluctant to move towards lighter, and therefore inherently more flexible manipulators, despite the potential benefits of lower costs, increased throughput and improved safety. Advancements in data …
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Research on remote control of reconfigurable modular robotic system
Serial manipulators, which have large work space with respect to their own volume and occupied floor space, are the most common industrial robots by far. However, in many environments the situation is unstructured and less predictable, such as aboard a space station, a nuclear waste retrieval site, …
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Techniques For Sensor-Integrated Robotic Systems: Raman Spectra Analysis, Image Guidance, And Kinematic Calibration
… calibration technique was developed for serial manipulators. It requires no external measurement devices for calibration, provides solutions for some limitations of existing techniques, and can significantly enhance the positional accuracy of a robot to improve sensor placement.</p> …