A New Concept of Modular Parallel Mechanism for Machining Applications
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last case, the position and the orientation of the tool are coupled and the shape of the workspace is complex. The aim of this paper is to use a simple parallel mechanism with two-degree-of-freedom (dof) for translation motions and to add one or two legs to add one or two-dofs for rotation motions. The kinematics and singular configurations are studied for each mechanism.
A Comparative Study of Parallel Kinematic Architectures for Machining Applications
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Université Laval（拉瓦尔大学）；CNRS（法国国家科学研究中心）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
Design of a 3 Axis Parallel Machine Tool for High Speed Machining: The Orthoglide
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Ecole Centrale de Nantes（南特中央理工学院）；Ecole des Mines de Nantes（南特矿业学院）；Université de Nantes（南特大学）
A Novel method for the design of 2-DOF Parallel mechanisms for machining applications
Institut de Recherches en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）
An Interval Analysis Based Study for the Design and the Comparison of 3-DOF Parallel Kinematic Machines
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）；CNRS（法国国家科学研究中心）；INRIA Sophia-Antipolis（法国国家信息与自动化研究所索菲亚-安提波利斯分部）
In the modern days, manipulators are found in the automated assembly lines of industries that produce products in masses. These manipulators can be used only in one configuration, that is either serial or parallel. In this paper, a new module which has two degrees of freedom is introduced. By connecting the two and three modules in series, 4 and 6 DoF hybrid manipulators can be formed respectively. By erecting 3 modules in parallel and with some minor modifications, a 6 DoF parallel manipulator can be formed. Hence the manipulator is reconfigurable and can be used as hybrid or parallel manipul…
There is a surge of research interest in the field of tensegrity robotics. Robots developed under this paradigm provide many advantages and have distinguishing features in terms of structural compliance, dexterity, safety, and weight reduction. This paper proposes a new robotic mechanism based on tensegrity ('tension-integrity') robots and reconfigurable modular robots. The specific actuation schemes for this tensegrity robot with multiple degrees of freedom are presented. This article describes an easy-to-assemble 350 mm tensegrity based robot prototype by stacking a series of rigid struts li…
National University of Singapore (NUS)（新加坡国立大学）；Advanced Robotics Center (ARC) at NUS（新加坡国立大学先进机器人中心）
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the shoulder must be able to emulate its complex kinematics. While typical architectures have proven to be useful, they employ complex and usually inadequate techniques to match the mobility of the shoulder. A new 2-DOF soft robotic shoulder exoskeleton is presented. Modular soft robotic actuators with separated inflation modules on the exoskeleton are able to …
Parallel Self-assembly for Modular USVs with Diverse Docking Mechanism Layouts
Shenzhen Institute of Artificial Intelligence and Robotics for Society (AIRS)（深圳市人工智能与机器人研究院）；The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen)（香港中文大学（深圳））；School of Science and Engineering (SSE), The Chinese University of Hong Kong, Shenzhen (CUHK-Shenzhen)（香港中文大学（深圳）理工学院）
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms
Belarusian State University of Informatics and Radioelectronics（白俄罗斯信息与无线电电子大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
Parallel Self-assembly for a Multi-USV System on Water Surface with Obstacles
Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳市人工智能与机器人研究院）；The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳））；School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）理工学院）
An analysis of higher-order kinematics formalisms for an innovative surgical parallel robot
Technical University of Cluj-Napoca（克卢日-纳波卡技术大学）；Gheorghe Asachi Technical University of Iasi（雅西格奥尔基·阿萨基技术大学）；Technical Sciences Academy of Romania（罗马尼亚技术科学院）；École Centrale Nantes（南特中央理工学院）；Nantes Université（南特大学）；CNRS（法国国家科学研究中心）；LS2N（南特数字科学实验室）
