8,621 research outputs found
Workspace Analysis of the Parallel Module of the VERNE Machine
The paper addresses geometric aspects of a spatial three-degree-of-freedom
parallel module, which is the parallel module of a hybrid serial-parallel
5-axis machine tool. This parallel module consists of a moving platform that is
connected to a fixed base by three non-identical legs. Each leg is made up of
one prismatic and two pairs of spherical joint, which are connected in a way
that the combined effects of the three legs lead to an over-constrained
mechanism with complex motion. This motion is defined as a simultaneous
combination of rotation and translation. A method for computing the complete
workspace of the VERNE parallel module for various tool lengths is presented.
An algorithm describing this method is also introduced
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
The paper addresses kinematic and geometrical aspects of the Orthoglide, a
three-DOF parallel mechanism. This machine consists of three fixed linear
joints, which are mounted orthogonally, three identical legs and a mobile
platform, which moves in the Cartesian x-y-z space with fixed orientation. New
solutions to solve inverse/direct kinematics are proposed and we perform a
detailed workspace and singularity analysis, taking into account specific joint
limit constraints
Overcoming barriers and increasing independence: service robots for elderly and disabled people
This paper discusses the potential for service robots to overcome barriers and increase independence of
elderly and disabled people. It includes a brief overview of the existing uses of service robots by disabled and elderly
people and advances in technology which will make new uses possible and provides suggestions for some of these new
applications. The paper also considers the design and other conditions to be met for user acceptance. It also discusses
the complementarity of assistive service robots and personal assistance and considers the types of applications and
users for which service robots are and are not suitable
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