Concept

Parallel manipulator

Related publications (54)

A Minimal Set of Coordinates for Describing Humanoid Shoulder Motion

Alexandre Terrier, Alain Farron, Christoph Anselm Engelhardt, David Ingram

The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordi ...

Ieee2013

MicroFactory

Philipp Kobel

Production in a controlled environment is becoming an increasingly important issue in various branches of industry. In the food, pharmaceutical, optical and semiconductor industries, today’s mass production would not be possible without so-called “cleanroo ...

EPFL2013

A Comparative Evaluation of Adaptive and Non-adaptive Sliding Mode, LQR and PID Control for Platform Stabilization

Mehmet Hasan Mutlu

During the uniform locomotion of compliant legged robots and other terrain vehicles, the body of the robot often exhibits complex oscillations which may have a disturbing effect on onboard sensors. For a camera mounted on such a robot, due to perspective p ...

IEEE2012

Concept of Modular Kinematics to Design Ultra-high Precision Parallel Robots

Murielle Richard

Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...

EPFL2012

Mechanical manipulator for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...

2012

Design and evaluation of a new mechatronic platform for assessment and prevention of fall risks

Silvestro Micera

Background: Studying the responses in human behaviour to external perturbations during daily motor tasks is of key importance for understanding mechanisms of balance control and for investigating the functional response of targeted subjects. Experimental p ...

BioMed Central2012

Modularity and parallel kinematics: an original design methodology applied to high precision

Reymond Clavel, Murielle Richard

This paper introduces a new methodology to design modular industrial ultra-high precision robots; it aims at significantly reducing both the complexity of their design and their development time. This modular concept can be considered as a robotic Lego®, w ...

World Scientific2011

Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery

Hannes Bleuler, Reymond Clavel, Giulio Rognini, Laura Santos Carreras

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...

Ios Press2011

A new concept of modular kinematics to design ultra-high precision flexure-based robots

Reymond Clavel, Murielle Richard

This work deals with the kinematic conception and the mechanical design of ultra-high precision robots, which are at present costly to develop, both in time and money. The aim of this paper is thus to introduce a new modular concept of kinematics which all ...

2010

PRIGO: Parallel Robotics Inspired Goniometer for Protein Crystallography

Simon Nessim Henein, Jean-Marc Breguet, Wayne Glettig

This paper presents a novel goniometer which is designed for use with X-ray diffraction analysis in protein crystallography. The PRIGO (Parallel Robotics Inspired Goniometer) is a 6 degree of freedom positioning device, allowing 3 translations (x, y, z) an ...

2009

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