... Abstract This paper presents the force reduction of a 3-RPS parallel manipulator using mechanical springs. Two design methods are proposed: one attaches a linear spring from the base to each cylinder-piston pair of P-joint, and the other implements a torsional spring to the R-joint of each leg...

... to the well-known Delta robot. This PKM is modeled as a 3R[2UU] PKM, which is known to be overconstrained. It is shown that the local constraint embedding can deal with this redundancy. Keywords Parallel manipulator, PKM, kinematics, dynamics, inverse dynamics, inverse kinematics, redundant constraints 1...

... Abstract A singular 6-SPS parallel manipulator is a 6-SPS parallel manipulator with architecture singularities spanning over the whole workspace. It should be abandoned in the design process. This paper presents a component method for generation of singular 6-SPS parallel manipulators...

... Abstract To enrich the type of three-DOF parallel mechanisms, a novel 3-RRC platform mechanism model is presented in this paper. The upper platform of this 3-DOF parallel manipulator can realize three-dimension translations without any rotations. The solutions are developed for both the inverse...

... Abstract A uniqueness domain is a part of the Cartesian workspace corresponding to the same assembly mode of the 3-RPR (planar parallel) manipulator. This paper presents an efficient method to determine the uniqueness domains of the 3-RPR manipulators with similar platforms. The method is based...

..., and the three-dimensional distribution of the axes of all the twists is illustrated. Finally, a numerical example is given successfully. parallel manipulator kinematics principal screw imaginary mechanism Proceedings of DETC'OO ASME 2000 Design Engineering Technical Conferences Baltimore, Maryland...

... Abstract This paper presents a new integrated configurational design system that allows for the feasible and optimum placement of the workspace of an adjustable planar parallel manipulator, relative to a specified machine toolpath. The basic design of the manipulator...

... Abstract The complexity of the forward displacement analysis (FDA) of 6-SPS parallel manipulators 1 varies to a great extent with the change of their geometric parameters. This paper presents a classification of the 6-SPS parallel manipulators according to their components. At first, we give...

... Abstract In this paper singularity analysis and workspace of a 3DOF parallel manipulator with new architecture are studied. Singular configurations of the manipulator at hand are analysed first. To this end, upon differentiating the kinematic constraint equations of the manipulator with respect...

... constrained planar parallel manipulator. The method has been implemented in a practical, interactive computer code that has been used to determine convex and non-convex workspaces of different parallel manipulators of arbitrary geometry. parallel manipulator workspace optimization Proceedings...

... A kinematically redundant parallel manipulator (PM) is a PM whose degrees-of-freedom (DOF) are greater than the DOF of the moving platform. It has been revealed in the literature that a kinematically redundant PM has fewer Type II kinematic singular configurations (also called forward kinematic...

... uncertainties. The simulation and experimental results revealed that the proposed method is robust against uncertainties and its simplicity makes the approach attractive for industrial applications. Robust control chattering-free sliding mode parallel manipulator cable-driven 1 Copyright © 2010...

... 30 07 2010 A method to calculate the volume of constant-orientation taskspace of parallel manipulators is developed and applied on the 6-RSS mechanism as an example. The taskspace is defined as a singularity-free reachable workspace. Quasi-singularity measure is used to measure...

... of this manipulator will be re- considered to obtain a simple and compact formulation. This re- formulated analysis can be used both in the design of the under- actuated manipulator, and in its control. Keywords: kinetostatics, non-holonomic constraint, under- actuated manipulator, parallel manipulator. NOMENCLATURE...

... function networks are implemented to search for the optimal architecture and behavior parameters in terms of global stiffness, dexterity and manipulability. Compliant manipulator parallel manipulator finite element method kinematic optimization 1 Copyright © 2009 by ASME Proceedings...

.... Evolution design illustrations are given to demonstrate the concept and principles. 24 07 2009 metamorphic mechanism parallel manipulator reconfiguration biological module spatial metamorphic cell spatial gene genome genetic evolution displacement Lie subgroup Proceedings...

... to deal with singularities of PKM. The different types of singular configurations are considered in the paper, and the potential of redundancy to cope with such situations is discussed. Again singularities are considered from a geometric point of view. 24 07 2009 Parallel manipulator...

... schemes leads to parasitic perturbation forces that can not be compensated by the controls. An amended version of these control scheme is proposed that does not suffer from such effects. 24 07 2009 Parallel manipulator redundant actuation inverse dynamics control prestress backlash...

... characteristic in the vicinity of the singular points. The parallel manipulator with a higher control precision will obtain fewer degree-of-freedoms and its configuration is easy to be controlled in the vicinity of the singular point. This investigation has potential applications in selecting joints’ clearance...

... 22 05 2009 A novel CAD geometric variation approach for solving active-passive forces of some parallel manipulators with SPR-type active legs is proposed. First, some methodical formulae for solving the active/constrained force matrix and active/constrained forces are derived. Second...