...Tengfei Tang; Changcheng Chi; Hanliang Fang; Jun Zhang To meet the increasing requirements for precision hybrid machine tools, this paper presents a geometric error propagation model-based accuracy synthesis method for parallel manipulators (PMs) with one translational and two rotational (1T2R...

...Qiangqiang Zhao; Junkang Guo; Dingtang Zhao; Dewen Yu; Jun Hong Kinematic reliability is an essential index that assesses the performance of the mechanism associating with uncertainties. This study proposes a novel approach to kinematic reliability analysis for planar parallel manipulators based...

... manipulator parallel manipulator actuation redundancy Cable-driven parallel mechanisms (CDPMs) have been used in a large range of engineering fields such as construction [ 1 ], the anthropomorphic manipulator [ 2 ], the leg exoskeleton [ 3 ], the material manipulation [ 4 ], and astronomical...

... characteristics of the 3-DOF manipulator are also analyzed. improved Scott-Russell mechanism flexure hinge parallel manipulator kinematics The micro/nanopositioning and manipulation techniques play an important role in many fields, such as scanning probe microscopy and micro/nanomanipulation [ 1...

... , M. , and Molfino , R. , 2006 , “ Design of SMA Actuated Light Weight Parallel Manipulator With Intelligent Controller ,” Proceedings of Eighth International IFAC Symposium on Robot Control (SYROCO 2006) , Bologna, Italy. Simaan , N. , Taylor , R. , and Paul , F. , 2004...

...O. Altuzarra; A. Hernandez; O. Salgado; J. Angeles The multiobjective optimization of a four-degree-of-freedom symmetric parallel manipulator for Schönflies-motion generation is the subject of this paper. First, the inverse positioning problem is discussed, along with its velocity analysis...

...Yi Lu; Yan Shi; Shi-Hua Li; Xing-Bin Tian This paper proposes a systematic methodology for dimension synthesis, kinematics, and statics of a novel 2 S P ̱ S + S P ̱ R + SP parallel manipulator with 3DOF. First, a workspace is varied and analyzed by varying the orientation of a revolute joint...

... translational parallel manipulator, which produces a motion set of spatial translations. The 3DOF translation of the moving platform is directly controlled by the three 1DOF translations in three orthogonal prismatic fixed joints. 25 05 2006 18 12 2006 Lie algebras Lie groups manipulator...

...Yi Lu; Bo Hu Some parallel manipulators with n spherical joint-prismatic joint-spherical joint (SPS)-type active legs and a passive constrained leg possess a larger capability of load bearing and are simple in structure of the active leg. In this paper, a unified and simple approach is proposed...

...Yi Lu; Bo Hu A unified approach to solving driving forces in spatial parallel manipulators with less than six DOFs is proposed. First, the geometric constrained equations of the parallel manipulators are derived, and some independent pose parameters and a common transformation matrix with three...

...Pierre-Luc Richard; Clément M. Gosselin; Xianwen Kong A four-degree-of-freedom (DOF) 3T1R parallel manipulator is presented in this paper. This manipulator generates the family of so-called Schönflies motions, SCARA motions or 3T1R motions, in which the moving platform can translate in all...

...Yi Lu A novel CAD variation geometric approach is proposed for designing the computer v - a (velocity-acceleration) simulation mechanisms of parallel manipulators with 3-, 4-, 5-linear driving limbs. Some common math foundations, computer aided geometry constraints, and dimension driving technique...

... position control velocity control acceleration control Dynamics Stewart Gough Parallel Manipulator Virtual Work A parallel manipulator typically consists of a moving platform and a fixed base that are connected together by several limbs. Because of the closed-loop architecture, not all...