Darwin Lau

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In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is(More)
Multilink cable-driven manipulators offer the compactness of serial mechanisms while benefitting from the advantages of cable-actuated systems. One major challenge in modeling multilink cable-driven manipulators is that the number of combinations in the possible cable-routing increases exponentially with the number of rigid bodies. In this paper, a(More)
Cable-driven manipulators are traditionally designed for general performance objectives, such as maximisation of workspace. To take advantage of the reconfigurability of cable-driven mechanisms, the optimisation of cable-configurations for specific tasks is presented. Specifically, two types of task specific objectives are explored, the minimisation of(More)
Fluid motion planners are a type of artificial potential field (APF) motion planners that use the differential equations of fluid flow to determine the desired trajectory. The fluid flow approach in motion planning can efficiently produce natural-looking trajectories. However, the differential equations used in previous studies are restricted to motion(More)
Joint interaction forces and moments play a significant role within multilink cable-driven manipulators (MCDMs). In this paper, the consideration of joint interaction forces and moments in the objective function and constraints specific to the inverse dynamics of MCDMs are considered for the first time. By formulating the relationship between the joint(More)
The design and analysis of a 4-DOF multi-link cable driven parallel mechanism is presented. In contrast to many existing cable driven parallel mechanism, the proposed manipulator’s rigid links are serially articulated. This design preserves the advantages associated with cabledriven parallel mechanisms, and introduces the advantages in having a serial(More)
The motion planning for a bipedal robotic gait is studied in this paper in the light of its underactuated nature. The generation of motion trajectory and the corresponding actuation command for an underactuated mechanism is a challenging problem, especially when it is required to needs to satisfy a set of equalities forming kinematics constraints. Existing(More)
A novel approach to perform motion planning on 2 or 3 degrees-of-freedom manipulators utilising a fluid motion planning model is proposed. It is demonstrated that through the introduction of transformations, the conventional trajectory planning problem in the configuration space (C-space) can be efficiently solved from the closed form solution of the fluid(More)