... Abstract This article presents a new three-degree-of-freedom (3-DOF) parallel mechanism (PM) with two translations and one rotation (2T1R), designed based on the topological design theory of the parallel mechanism using position and orientation characteristics (POC). The PM is primarily...

..., and the effectiveness of this pipe positioning system is shown. disturbance observer trajectory control parallel mechanism positioning Proceedings of the 1999 ASME Design Engineering Technical Conferences September 12-15,1999, Las Vegas, Nevada DETC99/MOVIC-8407 DEVELOPMENT OF A PIPE POSITIONING SYSTEM...

... In this paper a new rotational parallel mechanism which has three rotational freedoms is studied. This mechanism consists of only revolute joints. In this mechanism, no joints intersect with each other. The constraint and motion properties are analyzed. The inverse kinematics is solved...

.... The classification in this paper is more comprehensive than those in the literature. The above results are illustrated using CAD figures. This work may help readers better understand the geometric characteristics of the singular configuration of a number of 3-legged parallel manipulators. Parallel mechanism...

... Due to advantages of large-span, compact storage and high portability, foldable mechanisms have a promising prospect in aeronautics and astronautics applications. Two configurations of 3US parallel mechanisms with full foldability are constructed and their mobility and motion characteristics...

...) analysis of the parallel manipulators is then reduced to the singularity (stability) analysis of a single-loop structure. Finally, the geometric characteristics of singular configurations of the class of parallel manipulators are obtained with almost no algebraic derivation. Parallel mechanism screw...

... the virtual chain approach. Then, the types of 3-DOF parallel manipulators with both planar and translational operation modes are obtained. This work can be extended to the type synthesis of other classes of parallel manipulators with multiple operation modes. Parallel mechanism Parallel mechanism...

... manipulator in order to guarantee that the robot works in the same assembly mode. This work may facilitate the control of the quadratic spherical parallel manipulator. Parallel mechanism Quadratic parallel mechanism Spherical parallel mechanism Forward displacement analysis Singularity analysis...

... spherical parallel manipulator always undergoes self-motion in a Type 2 singular configuration, and the 3R leg of the 2-DOF spherical parallel manipulator also always undergoes self-motion in a Type 1 singular configuration. Parallel mechanism Quadratic parallel mechanism Spherical parallel...

... 30 07 2010 Based on previous research results presented by authors, this paper proposes a novel systematic approach for structure synthesis of all parallel mechanisms (excluding Bennett mechanism etc), which is totally different from the approaches based on screw theory and based...

... is singularity free, is also proposed for the Agile Eye. This work will facilitate the control of the Agile Eye. Parallel mechanism Quadratic parallel mechanism Spherical parallel mechanism Forward displacement analysis Singularity analysis Proceedings of the ASME 2009 International Design...

... with the analysis of full-cycle mobility for four representative “paradoxical mechanisms”. The purpose of this paper is to show that the methodology is more feasible and general. 24 07 2009 robot mobility analysis redundant constraint parallel mechanism Proceedings of the ASME 2008...

... 22 05 2009 This paper presents a family of novel lower-mobility decoupled parallel mechanisms (DPMs), which consists of one 5-DOF (degree of freedom) DPM, two 4-DOF DPMs, three 3-DOF DPMs, and three 2-DOF DPMs. The basic feature of this family is that the moving platform and the fixed...

... of a general degenerate-DOF parallel manipulator or a Parallel Kinematic Machine (PKM). Compliant manipulator Mobility Parallel mechanism Flexure hinge Screw theory Proceedings of DETC 04 ASME 2004 Design Engineering Technical Conferences and e A B I 00 primary mobility of two typical compliant...

... 30 06 2008 Because wear, clearance and backlash can be reduced or eliminated, one of the important advantages of compliant mechanisms is their potential to increase the mechanism precision dramatically. In this paper, a spatial compliant mechanism based on the 3-PRRR parallel mechanism...

... parallel mechanism type synthesis screw theory degree of freedom compliant micromanipulator This paper presents a simple but effective type synthesis method for spatial parallel mechanisms with three translational degrees of freedom based on the screw theory. Firstly all possible...

..., September 29-October 2, 2002 1 Copyright © 2002 by ASME N anisms consist of several serial chains and llel that connect a base to a moving platform. ructure parallel mechanisms possess smaller display higher speeds and accelerations than ologues. Other well-known advantages are in motion accuracy, i.e...

... 24 06 2008 Inverse Kinematics Forward Kinematics Parallel Mechanism Singularity Points In this article kinematic analysis of a 3 Leg-Spherically Actuated (3SA) parallel manipulator will be addressed. Since each leg has a spherical actuator (three inputs for each leg...

... inspection. The ep is dealt with based on screw theory. The second step is med with the aid of the concept of equivalent serial chain e types of multi-DOF overconstrained single-loop kine- chains. The proposed approach is illustrated with several les. EY WORDS Parallel mechanism, Type synthesis, Screw y...

... Compliant Mechanism Flexure Hinge Dynamics Controller Parallel Mechanism This paper presents control system formulations of a planar parallel 3-RRR parallel compliant micromanipulator. The design methodology is illustrated with one of such designs constructed at Beijing University...