...Xin Liu; Chenkun Qi; Jianfeng Lin; Dongjin Li; Feng Gao The 6-prismatic-spherical-universal (6-PSU) parallel robot is useful for high-accuracy positioning, where the motors are installed on the robot base and the moving parts of the robot have low inertia. A highly accurate kinematic model...

... of cables and redundant structural parameters. This article proposes an energy-based kinematic modeling method for a modular clustered tensegrity mobile robot. The design of the clustered tensegrity robot is inspired by the biomechanics of worms, allowing it to achieve two locomotion modes resembling...

... but secure the deformation. This paper proposes models and tests two kinds of soft pneumatic actuators including an axial elongation actuator and a radial expansion actuator. Based on the principle of the virtual work, the kinematic models of the soft actuators are built and the numerical results show...