... for publication in the J ournal of M echanical D esign . 21 07 2023 15 01 2024 18 01 2024 05 03 2024 Graphical Abstract Figure mobile robot mechanism optimization parallel mechanism kinematics analysis singularity avoidance design optimization design process...

...Zhen Wu; Qinchuan Li; Wei Ye This article presents a new family of kinematically redundant parallel mechanisms (KR-PMs) with two rotations and one translation (2R1T) based on the Lie group method. Compared with the 2-UPR/RPU PM, these PMs have two main advantages, namely, larger reachable...

... dynamic property, extra energy consumption, and imprecise operating force. Gravity compensation has been confirmed positive for mechanism performance and operation safety [ 1 – 4 ]. The parallel mechanism with Delta or Delta-like architecture is widely used in haptic devices or industrial robots...

...Chen Zhao; Ziming Chen; Yanwen Li; Zhen Huang In this paper, a novel 3-UPU (P and U stand for prismatic and universal joints, respectively) parallel mechanism (PM) and its variant PM are proposed. Both of them have two rotational and one translational (2R1T) degrees of freedom (DOFs) without...

... the reconfigurable limbs. The paper further presents a mobility-change condition to construct a metamorphic mechanism with the reconfigurable limbs. This gives a family of metamorphic parallel mechanisms that have the facility to change mobility in the range of 3– 6. A further family of metamorphic parallel...

... vibration parallel mechanism The sources of mechanism vibration, while varied and sometimes elusive, are most often ascribed to a combination of structural elasticity and poor stability properties of the control algorithm. In an illuminating experimental study ( 1 ), it has been found...

... . Carricato , M. , 2005 , “ Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion ,” Int. J. Robot. Res. 0278-3649 10.1177/0278364905053688 , 24 ( 5 ), pp. 397 – 414 . Gogu , G. , 2004 , “ Fully-Isotropic T3R1-Type Parallel Manipulators ,” On Advances...

... Model: Cooperative Manipulation and Parallel Mechanism Dynamics ,” Proceedings of IEEE International Conference on Robotics and Automation , Vol. 1 , pp. 470 – 475 . Holmberg , R. , and Khatib , O. , 2000 , “ Development and Control of a Holonomic Mobile Robot for Mobile Manipulation...

...Xianwen Kong; Clément M. Gosselin; Pierre-Luc Richard There are usually several motion patterns having the same degrees of freedom (DOF). For example, planar motion, spherical motion, and spatial translation are motion patterns with 3 DOF. An f -DOF parallel mechanism with multiple operation modes...

.... For such an N -DoF ( N < 6 ) mechanism, this method can build a square ( N × N ) Jacobian matrix and cubic ( N × N × N ) Hessian matrix. The formulas in this method for different parallel mechanisms have unified forms and consequently the method is convenient for programming. The more complicated...