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Keywords: parallel mechanism
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
Published Online: September 12, 2022
... the spherical-linkage parallel mechanism (SLPM) as a flexure hinge. The analysis suggests that the SLPM is highly flexible and meets the requirements for many DoFs (degrees-of-freedom) needed in various fields. The folding ratio of the SLPM was 72.73. Following this, we present an SLPM compliant module powered...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041010.
Paper No: JMR-21-1541
Published Online: June 6, 2022
...Xianwen Kong A 3-degree-of-freedom (DOF) 3-UPU translational parallel mechanism (TPM) is one of the typical TPMs. Despite comprehensive studies on 3-UPU TPMs in which the joint axes on the base and the moving platform are coplanar, only a few 3-UPU TPMs with skewed base and moving platform have...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011001.
Paper No: JMR-21-1574
Published Online: April 25, 2022
...Jingke Song; Chen Zhao; Kun Zhao; Wenjiang Yan; Ziming Chen In this paper, a symmetric 3-UPU (U and P represent universal and prismatic joints, individually) parallel mechanism and its variant mechanism under different geometric and assembly conditions are analyzed. Both have two rotational and one...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024504.
Paper No: JMR-20-1626
Published Online: September 20, 2021
.... t 1 and t 2 are variable in the optimization. The total time of motion is t 1 + t 2 , which is determined by the motion frequency and the value is 0.15 s in this case. cable-driven parallel robot parallel mechanism kinematics dynamics trajectory planning National...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061008.
Paper No: JMR-20-1553
Published Online: June 3, 2021
...Peng Xu; Chi Fai Cheung; Bing Li; Chunjin Wang; Chenyang Zhao In this paper, a novel six degrees-of-freedom (DOF) hybrid kinematic machine (HKM) is designed, analyzed, and evaluated for precision polishing. The design adopts a 3-DOF tripod-based parallel mechanism (PM) to locate the workpiece, a 2...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040908.
Paper No: JMR-20-1623
Published Online: April 22, 2021
...Hengchun Cui; Jun Wu; Qi Li This paper proposes a novel two-axis solar tracker with a redundant parallel mechanism and investigates the distribution method of driving torque. In view of the difference between the singular configuration of the redundant parallel mechanisms...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011013.
Paper No: JMR-19-1458
Published Online: October 7, 2020
... legged mobile lander type synthesis truss-mechanism transformation parallel mechanism multi-loop chain In the exoplanet exploration project, the mission mainly includes Circling , Landing , Return three missions and Base Construction in the future [ 1 ]. So far, the Circling and Landing...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041016.
Paper No: JMR-13-1101
Published Online: August 18, 2014
... subchain, the construction of 6RMCTs based on 6R overconstrained mechanisms without a planar 3R subchain are not apparent. Recent advances in the type synthesis of translational parallel mechanisms based on screw theory (see Ref. [ 16 ], for example) provide a solid starting point to solve the above...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. May 2014, 6(2): 021008.
Paper No: JMR-13-1107
Published Online: March 6, 2014
... using CAD figures. This work may help readers better understand the geometric characteristics of singular configurations of a number of three-legged parallel manipulators. parallel mechanism screw theory singularity reciprocal screws Singularity analysis [ 1–4 ] is an important issue...
Topics: Screws
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041003.
Paper No: JMR-12-1107
Published Online: July 16, 2013
... online July 16, 2013. Assoc. Editor: J. M. Selig. 27 07 2012 20 04 2013 In this paper, we present the design of a novel 3- R US/ R RR redundantly actuated parallel mechanism for ankle rehabilitation based on the principle from the conceptual design. The proposed mechanism can...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. August 2013, 5(3): 031004.
Paper No: JMR-12-1101
Published Online: June 24, 2013
...; published online June 10, 2013. Assoc. Editor: Qiaode Jeffrey Ge. 18 07 2012 28 03 2013 This paper introduces a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2012, 4(1): 011001.
Published Online: February 3, 2012
...Ting-Li Yang; Dong-Jin Sun Based on the position and orientation characteristic (POC) set and the POC equations for serial mechanisms and parallel mechanisms proposed by authors, this paper presents a novel general degree of freedom (DOF) formula which is totally different from approaches based...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031005.
Published Online: July 27, 2011
... open loop systems tendon-driven cable actuated spherical joint visual servoing parallel mechanism joint miniaturization Spherical joints have become an integral component in robotic applications, often comprising both the wrist and the shoulder of robotic manipulators. As a result, 3...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2011, 3(2): 024501.
Published Online: March 10, 2011
... mechanism quadratic parallel mechanism spherical parallel mechanism forward displacement analysis singularity analysis For most parallel manipulators, there are usually multiple solutions to the forward displacement analysis (FDA). Since a parallel manipulator usually works in one singularity...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011014.
Published Online: February 10, 2011
... , W. H. , 1954 , Elements of Mechanism , Wiley , New York . couplings manipulator kinematics robot wrist rotation sequence spherical triangle spherical linkage parallel mechanism Clemens linkage constant-velocity coupling The double-double universal joint (2-UU) ( 1...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011007.
Published Online: January 6, 2011
... parallel 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...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. November 2010, 2(4): 044501.
Published Online: August 30, 2010
..., which is singularity free, is also proposed for the Agile Eye. This work will facilitate the control of the Agile Eye. 31 05 2009 12 05 2010 30 08 2010 30 08 2010 manipulator kinematics parallel mechanism quadratic parallel mechanism spherical parallel mechanism...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031014.
Published Online: July 23, 2010
...Ketao Zhang; Yuefa Fang; Hairong Fang; Jian S. Dai This paper presents a three-spherical kinematic chain based parallel mechanism that evolved from an origami fold. The new parallel mechanism with symmetrical structure consists of a base, a platform, and three-spherical six-bar chains as chain-legs...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. November 2009, 1(4): 041007.
Published Online: September 18, 2009
...Dongming Gan; Jian S. Dai; Qizheng Liao This paper presents a new joint coined as the rT joint and proposes two types of metamorphic parallel mechanisms assembled with this rT joint. In the first type, the mechanism changes its topology by turning the rT joints in all limbs into different...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2009, 1(2): 024501.
Published Online: January 12, 2009
... region in which it works is specified. 07 04 2008 26 10 2008 12 01 2009 algebra manipulators parallel mechanism quadratic parallel manipulator forward displacement analysis singularity Parallel manipulators of a general structure lead to a complex forward...