Related papers: Analysis of a 3-RUU Parallel Manipulator
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper design a novel 3-translation (3T) PM that has three advantages, i.e., 1) it…
This paper presents SinguLab, a graphical user interface for the singularity analysis of parallel robots. The algorithm is based on Grassmann-Cayley algebra. The proposed tool is interactive and introduces the designer to the singularity…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or…
In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level…
Parallel robots (PRs) are closed-chain manipulators with diverse applications due to their accuracy and high payload. However, there are configurations within the workspace named Type II singularities where the PRs lose control of 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…
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…
In this paper a new asymmetric 3-translational (3T) parallel manipulator, i.e., RPa(3R) 2R+RPa, with zero coupling degree and decoupled motion is firstly proposed according to topology design theory of parallel mechanism (PM) based on…
The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps that…
This paper investigates singular configurations of planar 3-RPR parallel manipulators, which result from applying the averaging technique to solution pairs of their direct kinematic problem. Without computing the zeros of the corresponding…
This article presents a new variable actuation mechanism based on the 3-RPR parallel robot. This mechanismis an evolution of the NaVARo robot, a 3-RRR parallel robot, for which the second revolute joint of the threelegs is replaced by a…
Singularities arise in diverse disciplines and play a key role in both exploring fundamental laws of physics and making highly-sensitive sensors. Higher-order (>3) singularities, with further improved performance, however, usually require…
This paper investigates two situations in which the forward kinematics of planar 3-RPR parallel manipulators degenerates. These situations have not been addressed before. The first degeneracy arises when the three input joint variables r1,…
Modular robots can be tailored to achieve specific tasks and rearranged to achieve previously infeasible ones. The challenge is choosing an appropriate design from a large search space. In this work, we describe a framework that…
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
A family of 3R orthogonal manipulators without offset on the third body can be divided into exactly nine workspace topologies. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined…
The purpose of this paper is to prove the L^p boundedness of singular Radon transforms and their maximal analogues. These operators differ from the traditional singular integrals and maximal functions in that their definition at any point x…
The configuration manifolds of parallel manipulators exhibit more nonlinearity than serial manipulators. Qualitatively, they can be seen to possess extra folds. By projecting such manifolds onto spaces of engineering relevance, such as an…
Performing long-term experimentation or large-scale data collection for machine learning in the field of soft robotics is challenging, due to the hardware robustness and experimental flexibility required. In this work, we propose a modular…