Related papers: Kinetostatic Performance of a Planar Parallel Mech…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Redundant parallel robots are normally employed in scenarios requiring good precision, high load capability, and large workspace compared to traditional parallel mechanisms. However, the elementary robotic configuration and geometric…
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant…
Proposed in this paper is a kinetostatic performance index for the optimum dimensioning of planar manipulators of the serial type. The index is based on the concept of distance of the underlying Jacobian matrix to a given isotropic matrix…
Parallel kinematics machines (PKM) can exhibit kinematic as well as actuation redundancy. While the meaning of kinematic redundancy has been clarified already for serial manipulators, actuation redundancy, that is only possible in PKM, is…
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…
Most industrial machine tools have a serial kinematic architecture, which means that each axis has to carry the following one, including its actuators and joints. High Speed Machining highlights some drawbacks of such architectures: heavy…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
The paper presents a novel modular hybrid parallel robot for pancreatic surgery and its higher-order kinematics derived based on various formalisms. The classical vector, homogeneous transformation matrices and dual quaternion approaches…
Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They are interesting alternative designs for some applications, such as modelling musculo-skeleton systems. Tensegrity mechanisms are more difficult to…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
Metastability is a common obstacle to performing long molecular dynamics simulations. Many numerical methods have been proposed to overcome it. One method is parallel replica dynamics, which relies on the rapid convergence of the underlying…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
We propose a novel design of a parallel manipulator of Stewart Gough type for virtual reality application of single individuals; i.e. an omni-directional treadmill is mounted on the motion platform in order to improve VR immersion by giving…
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, the method involves a FEA-based link stiffness evaluation and…
This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…