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Optimal design of a linkage–cam mechanism-based redundantly actuated parallel manipulator

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 3, Pages 451-467 doi: 10.1007/s11465-021-0634-6

Abstract: A redundantly actuated parallel manipulator (RAPM) with mixed translational and rotational degrees of

Keywords： redundant actuation parallel manipulator linkage–cam mechanism Jacobian optimal design

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Synthesis of spherical parallel manipulator for dexterous medical task

Abdelbadia CHAKER, Abdelfattah MLIKA, Med Amine LARIBI, Lotfi ROMDHANE, Sa?d ZEGHLOUL

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2, Pages 150-162 doi: 10.1007/s11465-012-0325-4

Abstract:

This paper deals with the design and the analysis of a spherical parallel manipulator (SPM) for a

Keywords： spherical parallel manipulator (SPM) anastomosis haptic motion capture optimization workspace dexterity

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Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Frontiers of Mechanical Engineering 2023, Volume 18, Issue 2, doi: 10.1007/s11465-022-0743-x

Abstract: Most parallel manipulators have multiple solutions to the direct kinematic problem.study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallelmanipulator.The direct kinematic problem of the manipulator yields a quartic polynomial equation.

Keywords： planar parallel manipulator assembly changing motions cusp points quartic polynomial discriminant

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Motion capability analysis of a quadruped robot as a parallel manipulator

Jingjun YU,Dengfeng LU,Zhongxiang ZHANG,Xu PEI

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 4, Pages 295-307 doi: 10.1007/s11465-014-0317-7

Abstract: manipulator in quadruple stance phase.manipulator.manipulator is established.The method for choosing six non-redundant actuated joints for the parallel manipulator from all twelveThe inverse and forward displacement analysis of the parallel manipulator is carried out using the method

Keywords： quadruped robot actuated joints selection kinematics analysis motion planning parallel manipulator

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

Mingfeng WANG,Marco CECCARELLI,Giuseppe CARBONE

Frontiers of Mechanical Engineering 2016, Volume 11, Issue 2, Pages 144-158 doi: 10.1007/s11465-016-0391-0

Abstract: The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallelmanipulator architecture.

Keywords： feasibility study biped locomotor biped walking mechanical design dynamic simulation tripod leg mechanism 3-UPU parallel manipulator

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Singularity and workspace analysis of three isoconstrained parallel manipulators with schoenflies motion

Po-Chih LEE, Jyh-Jone LEE

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2, Pages 163-187 doi: 10.1007/s11465-012-0324-5

Abstract:

This paper presents the analysis of three parallel manipulators with Schoenflies-motion.Each parallel manipulator possesses two limbs in structure and the end-effector has three DOFs (degreeThe three isoconstrained parallel manipulators have the structures denoted as CuuUwHw-//-CvvUwHwThe kinematic equations are first introduced for each manipulator.The results can be helpful for the engineers to evaluate such kind of parallel robots for possible application

Keywords： parallel manipulator schoenflies motion kinematics singularity workspace performance index

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Research and Development in the Field of Parallel Kinematic Machines

Wang Jinsong,Li Tiemin,Duan Guanghong

Strategic Study of CAE 2002, Volume 4, Issue 6, Pages 63-70

Abstract:

Parallel kinematic machines are in the process of industrialization.In this paper, research and development of parallel kinematic machines is investigated from various aspects

Keywords： parallel manipulator parallel kinematic machines(PKM) drive control system

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A rolling 3-UPU parallel mechanism

Zhihuai MIAO, Yan’an YAO, Xianwen KONG

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 4, Pages 340-349 doi: 10.1007/s11465-013-0282-6

Abstract:

A novel rolling mechanism is proposed based on a 3-UPU parallel mechanism in this paper.

Keywords： parallel mechanism rolling mechanism screw theory

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Error analysis and optimization of a 3-degree of freedom translational Parallel Kinematic Machine

S. SHANKAR GANESH,A. B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 2, Pages 120-129 doi: 10.1007/s11465-014-0300-3

Abstract:

In this paper, error modeling and analysis of a typical 3-degree of freedom translational Parallel X, Y and Z directions for a set of dimensions of the parallelAn attempt is made to find the optimal dimensions of the Parallel Kinematic Machine using Genetic Algorithmsmethodology presented and the results obtained are useful for predicting the performance capability of the Parallel

Keywords： translational Parallel Kinematic Machine error modeling global error transformation index

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Parasitic rotation evaluation and avoidance of 3-UPU parallel mechanism

Haibo QU, Yuefa FANG, Sheng GUO

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2, Pages 210-218 doi: 10.1007/s11465-012-0317-4

Abstract:

Based on the prototype of 3-UPU (universal-prismatic-universal joint) parallel mechanism proposedrotation evaluation is performed and calculated the bound of instability of SNU Seoul National University 3-UPU parallel mechanism.Through analysis of the terminal constraint system of the 3-UPU parallel mechanism, the equation aboutWith the practice experiment result of SUN 3-UPU parallel mechanism, we find it’s bound of instability

Keywords： parallel mechanism 3-UPU (universal-prismatic-universal joint) parasitic motions limited clearance redundantly

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A comprehensive analysis of a 3-P (Pa) S spatial parallel manipulator

Yuzhe LIU,Liping WANG,Jun WU,Jinsong WANG

Frontiers of Mechanical Engineering 2015, Volume 10, Issue 1, Pages 7-19 doi: 10.1007/s11465-015-0324-3

Abstract:

In this paper, a novel 3-degree of freedom (3-DOF) spatial parallel kinematic machine (PKM) is analyzedThe manipulator owns three main motions (two rotations and one translation) and three concomitant motions

Keywords： parallel mechanism concomitant motions kinematics workspaces error model

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Fast forward kinematics algorithm for real-time and high-precision control of the 3-RPS parallel mechanism

Yue WANG, Jingjun YU, Xu PEI

Frontiers of Mechanical Engineering 2018, Volume 13, Issue 3, Pages 368-375 doi: 10.1007/s11465-018-0519-5

Abstract:

A new forward kinematics algorithm for the mechanism of 3-RPS (R: Revolute; P: Prismatic; S: Spherical) parallel manipulators is proposed in this study.This algorithm is primarily based on the special geometric conditions of the 3-RPS parallel mechanismThis novel forward kinematics algorithm is well suited for real-time and high-precision control of the 3-RPS parallel mechanism.

Keywords： 3-RPS parallel mechanism forward kinematics numerical algorithm parasitic motion

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Stiffness of a 3-degree of freedom translational parallel kinematic machine

S. SHANKAR GANESH,A.B. KOTESWARA RAO

Frontiers of Mechanical Engineering 2014, Volume 9, Issue 3, Pages 233-241 doi: 10.1007/s11465-014-0312-z

Abstract:

In this paper, a typical 3-degree of freedom (3-DOF) translational parallel kinematic machineFor various architectural parameters of the 3-DOF PKM the tendency of variations on the minimum and maximum

Keywords： 3-DOF translational PKM inverse kinematics stiffness modeling translational stiffness

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Self-motions of 3-RPS manipulators

Josef SCHADLBAUER, Manfred L. HUSTY, Stéphane CARO, Philippe WENGERY

Frontiers of Mechanical Engineering 2013, Volume 8, Issue 1, Pages 62-69 doi: 10.1007/s11465-013-0366-3

Abstract:

Recently a complete kinematic description of the 3-RPS parallel manipulator was obtained using algebraicthe algebraic description is used to give a complete analysis of all possible self-motions of this manipulator

Keywords： 3-RPS-manipulator singularity self-motion

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Kinematic Model Building and Servo Parameter Identification of 3-HSS Parallel Mechanism

YANG Zhi-yong, WU Jiang, HUANG Tian, NI Yan-bing

Frontiers of Mechanical Engineering 2006, Volume 1, Issue 1, Pages 60-66 doi: 10.1007/s11465-005-0019-2

Abstract:

Aiming at a parallel mechanism with three degrees of freedom, a method for dynamic model buildingBased on the above model, a method to identify the servo parameter of the parallel mechanism is put up

Keywords： building acceleration additive workspace optimum performance