a b s t r a c tIn this paper structural design of parallel manipulators with general constraint one regarding angular and linear-angular conditions are considered. Four known overconstrained mechanisms with angular and two new designs with linear-angular conditions are presented. 14 structural groups and end effector chains in subspace k ¼ 5 are examined. New formulations and definitions of constructing overconstrained manipulators are described. Using examined structural groups, all architectures of subspace k ¼ 5 parallel manipulators with revolute joints and single-loop are introduced via structural bonding.

Abstract-Haptics technology has increased the precision and telepresence of the teleoperation and precision of the in-house robotic applications by force and surface information feedback. Force feedback is achieved through sending back the pressure and force information via a haptic device as the information is created or measured at the point of interest. In order to configure such a system, design, analysis and production processes of a haptic device, which is suitable for that specific application, becomes important. Today, haptic devices find use in assistive surgical robotics and most of the teleoperation systems. These devices are also extensively utilized in simulators to train medical and military personnel. The objective of this work is to design a haptic device with a new structure that has the potential to increase the precision of the robotic operation. Thus, literature is reviewed and possible robot manipulator designs are investigated to increase the precision in haptics applications. As a result of the investigations, conceptual designs are developed. Ultimately, final design is selected and produced after it is investigated in computer-aided-design (CAD) environment and its kinematic and structural analyses are carried out.

Diesel-fueled fuel cell systems can be more clean and efficient energy solutions than internal combustion engines for electric power generation on-board naval surface ships. NATO Navy steam and gas turbine and diesel ships are powered by a naval distillate fuel (NATO symbol F-76). In this study, a 120 kW F-76 diesel-fueled solid oxide fuel cell system (SOFC) as an auxiliary engine on-board a naval surface ship was designed and thermodynamically analyzed. A diesel-fueled SOFC system was compared to diesel-electric generator set in a case naval surface ship.

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This article proposes a systematic approach for validating the trajectories generated by a motion planning method in presence of obstacles for parallel manipulators having less than 6 degrees of freedom (d.o.f.s). The planning algorithm is based on combining a quick random search algorithm together with an optimization method, which aims to obtain feasible and reliable trajectories. The validation approach uses a probabilistic method, which includes Kalman filtering of experimental data. Experimental tests have been carried out by operating a Cassino Parallel Manipulator (CaPaMan) prototype at LARM in Cassino. Results are reported and discussed to show the effectiveness of the proposed approach to generate and validate suitable collision-free trajectories for parallel manipulators.

This study aims to design and 3D print porous elements for soft robotic applications and test the stiffness changes when the cavities are filled with liquids. When an elastic element has porous scaffolds, the stiffness can be controlled by filling the cavities with a liquid. A gyroid structure is selected for the design and evaluation of the characteristics of elements. The stiffness of the element in both non-filled and liquid-filled modes is analyzed using Finite Element Model (FEM) simulation Software in two modes where simple support with central loading and compressive uniform loading. A porous test structure is created and tested in these modes for observation of the stiffness change. In this project, employing a Fused Deposition Modelling (FDM) printer enabled us to make our thoughts into reality. The results show that liquid-filling can be used as a stiffening method for porous scaffolds in soft robotic applications.

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