Hydraulic actuators have traditionally found application in servo systems requiring high bandwidth, high power per unit mass, and permitting low overall energy efficiency, the presence of hydraulic oil, and a rather bulky ...

A parallelogram drive enables lightweight arms to have a higher rigidity and to reduce the actuator weight moved. Analysis of the flexible closed kinematic chain dynamics and design of the control are described in this ...

The design of lightweight links for robotic manipulators results in flexible links. Accurate control of lightweight manipulators during the large changes in configuration common to robotic tasks requires dynamic models ...

The performance of manually operated remote manipulators is limited by friction, tolerance of mating parts, limited speed of response, and other unavoidable factors which affect dynamic behavior. A review of the literature ...

Design studies in progress on a special purpose robot are described. The robot is to be used for ultrasonic inspection of extruded and forged parts immersed in water in a large tank. The studies focus on establishing the ...

The control of lightweight flexible manipulators moving along predefined paths is the focus of this work. The flexible manipulator dynamics is derived on the basis of a Lagrangian-assumed modes method. The full order ...