...Xiaofei Liu; Bo Wan; Yu Liu; Yu Wang; Yongsheng Zhao This paper focuses on the singularity of actuation coordination of redundantly actuated parallel manipulators and proposes a series of novel indices to evaluate the actuation coordination. The singularity is analyzed based on the coordinated...

...Chongjian He; Wei Guo; Yanxia Zhu; Lizhong Jiang Despite significant performance advantages, the intractable forward kinematics have always restricted the application of parallel manipulators to small posture spaces. Traditional analytical methods and Newton–Raphson method usually cannot solve...

...Raffaele Di Gregorio Direct position analysis (DPA) of parallel manipulators (PMs) is in general difficult to solve. Over on PMs’ topology, DPA complexity depends on the choice of the actuated joints. From an analytic point of view, the system of algebraic equations that one must solve to implement...

...Xiansheng Yang; Zhilong Zhao; Hao Xiong; Qinchuan Li; Yunjiang Lou This paper presents a novel Schönflies-motion Parallel Manipulator with Rotational Pitch motion (SPM-RP) based on a single-platform fully parallel mechanism. An analysis of the position, workspace, velocity, and singularity...

... Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 21 09 2019 05 01 2020 06 01 2020 11 01 2020 parallel manipulators forward and inverse kinematics geometric errors Since the Stewart platform...

... . [15] Anson , M. , Alamdari , A. , and Krovi , V. , 2017 , “ Orientation Workspace and Stiffness Optimization of Cable-Driven Parallel Manipulators With Base Mobility ,” ASME J. Mech. Robot. , 9 ( 3 ), p. 031011 . 10.1115/1.4035988 [16] Sovizi , J. , Rai , R...

... the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for AFP. Design optimization Mechanism theory Parallel manipulators AFP is an important manufacturing process in composite aerospace part...

.... Each chain is composed of two actuated (therefore underlined) joints and two passive revolute joints. P indicates a prismatic joint while R indicates a revolute joint.) planar parallel manipulators. The dexterous workspace of each nonredundant RRR kinematic chain is first determined using a four-bar...

...Sébastien Briot; Vigen Arakelian In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting...

...Grigore Gogu This paper presents a new family of maximally regular T 2 R 1 -type parallel manipulators with bifurcated spatial motion. In each branch, the moving platform has two independent translations ( T 2 ) and one rotation ( R 1 ) driven by three actuators mounted on the fixed base...

...Sébastien Briot; Vigen Arakelian In our previous work ( 2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983 ), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2...

...Marco Carricato; Clément Gosselin Gravity compensation of spatial parallel manipulators is a relatively recent topic of investigation. Perfect balancing has been accomplished, so far, only for parallel mechanisms in which the weight of the moving platform is sustained by legs comprising purely...