3 papers
cs.RO2025
P-FABRIK: A General Intuitive and Robust Inverse Kinematics Method for Parallel Mechanisms Using FABRIK Approach
Daqian Cao, Quan Yuan, Weibang Bai
Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms…
cs.RO2025
Geometric Parameter Optimization of a Novel 3-(PP(2-(UPS))) Redundant Parallel Mechanism based on Workspace Determination
Quan Yuan, Daqian Cao, Weibang Bai
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. Howeve…
cs.RO2025
Design and Validation of an Under-actuated Robotic Finger with Synchronous Tendon Routing
Quan Yuan, Zhenting Du, Daqian Cao +1
Tendon-driven under-actuated robotic fingers provide advantages for dexterous manipulation through reduced actuator requirements and simplified mechanical design. However, achievin…