By Marco Ceccarelli, Victor A. Glazunov

This complaints quantity comprises papers which were chosen after overview for oral presentation at ROMANSY 2014, the 20 th CISM-IFToMM Symposium on idea and perform of Robots and Manipulators. those papers conceal advances on numerous elements of the extensive box of Robotics as pertaining to concept and perform of Robots and Manipulators.

ROMANSY 2014 is the 20th occasion in a chain that all started in 1973 as one of many first convention actions on the planet on Robotics. the 1st occasion was once held at CISM (International Centre for Mechanical technology) in Udine, Italy on 5-8 September 1973. It used to be additionally the 1st subject convention of IFToMM (International Federation for the promoting of Mechanism and desktop technological know-how) and it used to be directed not just to the IFToMM community.

Proceedings volumes of ROMANSY were continually released to be to be had, additionally after the symposium, to a wide public of students and architects with the purpose to offer an summary of latest advances and developments within the conception, layout and perform of robots.

This lawsuits quantity, like prior ones of the sequence, comprises contributions with achievements overlaying many fields of Robotics as idea and perform of Robots and Manipulators that may be an concept for destiny developments.

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Extra resources for Advances on Theory and Practice of Robots and Manipulators: Proceedings of Romansy 2014 XX CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators

Example text

The mechanism was mentioned earlier as a part of a family of translational parallel mechanisms, for instance in [12] and [13]. Later it was analyzed in detail in [14] where results of the overall kinematics, dynamics and workspace analysis of the mechanism were presented. 2 Mechanism Overview In this section we provide a quick overview of the analyzed parallel mechanism and the results obtained during initial singularity analysis presented in our previous paper. The mechanism has three legs (or kinematic chains) with five revolute joints each (Fig.

Mech. Mach. Theory 40, 710–727 (2005) 11. : Constraint and singularity analysis of the exechon tripod. In: Proceedings of the ASME IDETC&CIE, DETC2012-71184 (2012) Singularity Analysis of 3-DOF Translational Parallel Manipulator Pavel Laryushkin, Victor Glazunov and Sergey Demidov Abstract In this paper we analyze singularities of the 3-DOF translational parallel mechanism with three kinematic chains, each consisting of five revolute joints. Both Jacobian and Screw theory methods are used to determine singular points of different types.

A combination of two-prismatic joints [6] or a series of P-R-P joints [7], but such features entail more DOFs than the motion of target joints, and thus make the apparatuses complicated, heavy, and expensive. In addition, they cannot adapt to spatial motions. To solve these problems, the authors have proposed an effective solution by introducing a simple spatial mechanism capable of passively adapting to an eccentricity of user’s joint axis, and adjustment of exerted load by attaching passive spring [8].

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