...Amir Jalali; Farrokh Janabi-Sharifi Cooperative continuum robots (CCRs) are composed of multiple coupled continuum arms to cooperatively conduct manipulation tasks. They can highly enhance the performance of individual continuum arms by providing extra stiffness, leading to increased accuracy...

...Yundou Xu; Fan Yang; Zhenghe Xu; Jiantao Yao; Yulin Zhou; Yongsheng Zhao This paper studies the stiffness and experiment of a five-degrees-of-freedom (DOF) hybrid, serial–parallel, manipulator, with all rotating axes being continuous: TriRhino. First, the motion principle of the hybrid manipulator...

... actuator redundancy scheme is used, which not only still maintains all inherent advantages from actuator redundancy but also possesses the kinematic partially decouple feature that improves the flexibility of the robotic system. Kinematic performances, such as dexterity, singularity and stiffness...

...Bo Hu; Jingjing Yu; Yi Lu; Chunping Sui; Jianda Han The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel manipulators (PMs) connected in series is established in this paper. The S-PMs can provide features of both serial manipulators (SMs) and PMs. First...

... and its prototype is developed. The isotropy and decoupled characteristics of the 6-DOF PPMM are discussed. The relationship among input-force, payload, stiffness, and displacement (IPSD) of the 6-DOF PPMM is studied and the model of the relationship among the IPSD is derived in an analytical style...