Related papers: Singularity Analysis of Limited-dof Parallel Manip…
This paper introduces a methodology to analyze geometrically the singularities of manipulators, of which legs apply both actuation forces and constraint moments to their moving platform. Lower-mobility parallel manipulators and parallel…
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the…
One of the most challenging issues in adaptive control of robot manipulators with kinematic uncertainties is requirement of the inverse of Jacobian matrix in regressor form. This requirement is inevitable in the case of the control of…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse…
Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using…
This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian…
The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…
Articulated robots such as manipulators increasingly must operate in uncertain and dynamic environments where interaction (with human coworkers, for example) is necessary. In these situations, the capacity to quickly adapt to unexpected…
The singularities of serial robotic manipulators are those configurations in which the robot loses the ability to move in at least one direction. Hence, their identification is fundamental to enhance the performance of current control and…
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the…
Parallel robots (PRs) have singular configurations where the robot gains at least one degree of freedom and loses control. Theoretically, such singularity occurs when the Forward Jacobian-matrix determinant becomes zero (Type II). However,…
The aim of this paper is to characterize the notion of aspect in the workspace and in the joint space for parallel manipulators. In opposite to the serial manipulators, the parallel manipulators can admit not only multiple inverse kinematic…
This study is on the enumeration of spatial robotic manipulators, which is an essential basis for a companion study on dimensional synthesis, both of which together present a wider utility in manipulator synthesis. The enumeration of…
This paper aims to study a specific kind of parallel robot: Spherical Parallel Manipulators (SPM) that are capable of unlimited rolling. A focus is made on the kinematics of such mechanisms, especially taking into account uncertainties…
The purpose of this paper is to study algebras of singular integral operators on $\mathbb{R}^{n}$ and nilpotent Lie groups that arise when one considers the composition of Calder\'on-Zygmund operators with different homogeneities, such as…
The subject of this paper is a special class of closed-chain manipulators. First, we analyze a family of two-degree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate…
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…
Two-dimensional multilinked structures can benefit aerial robots in both maneuvering and manipulation because of their deformation ability. However, certain types of singular forms must be avoided during deformation. Hence, an additional 1…
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…
A novel kinematically redundant (6+3)-DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are…