Related papers: Workspace and Kinematic Analysis of the VERNE mach…
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with…
We present a kinematic and transmission-aware design framework for a serial spherical mechanism with an additional translational degree of freedom for microsurgery. The first contribution is an analytical workspace formulation that provides…
For the majority of tasks performed by traditional serial robot arms, such as bin picking or pick and place, only two or three degrees of freedom (DOF) are required for motion; however, by augmenting the number of degrees of freedom,…
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple…
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists…
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed…
This paper introduces a 3D parallel robot with three identical five-degree-of-freedom chains connected to a circular brace end-effector, aimed to serve as an assistive device for patients with cervical spondylosis. The inverse kinematics of…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third…
This article presents the Orthoglide project. The purpose of this project is the realization of a prototype of machine tool to three degrees of translation. The characteristic of this machine is a parallel kinematic architecture optimized…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
The aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one produces the rotational motions. These…
The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval…
Presented in this paper is the kinematic analysis of a symmetrical three-degree-of-freedom planar parallel manipulator. In opposite to serial manipulators, parallel manipulators can admit not only multiple inverse kinematic solutions, but…
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity…
Mechatronic systems are commonly used in the industry, where fast and accurate motion performance is always required to guarantee manufacturing precision and efficiency. Nevertheless, the system model and parameters are difficult to be…
An autonomous system is presented to solve the problem of in space assembly, which can be used to further the NASA goal of deep space exploration. Of particular interest is the assembly of large truss structures, which requires precise and…
Traditional geometric inverse kinematics methods for parallel mechanisms rely on specific spatial geometry constraints. However, their application to redundant parallel mechanisms is challenged due to the increased constraint complexity.…
The purpose of this paper is to present the construction and programming of a five degrees of freedom robotic arm which interacts with an infrared sensor for the identification and sorting of different sized objects. The main axis of the…
A force balanced manipulator design based on the closed chain planar five bar linkage is developed and experimentally validated. We present 2 variants as a modular design: Forbal-2, a planar 2-DOF manipulator, and its extension to 5-DOF…