相关论文: Working Modes and Aspects in Fully-Parallel Manipu…
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planning method and an inverse kinematic…
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed…
Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects…
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 paper addresses geometric aspects of a spatial three-degree-of-freedom parallel module, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel module consists of a moving platform that is connected…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
This work addresses the inverse kinematics of serial robots using conformal geometric algebra. Classical approaches include either the use of homogeneous matrices, which entails high computational cost and execution time or the development…
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equi-lateral mobile platform and an equilateral-shaped base. Like the other 3-PPPS robots studied in the literature, it is proved that the parallel…
When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode…
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…
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between…
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Pl\"ucker vector of lines (finite and infinite) constituting the rows 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…
This paper explores operators with countable, continuous, and hybrid spectra, focusing on both finite dimensional and infinite dimensional cases, particularly in non-Hermitian systems. For finite dimensional operators, a novel concept of…
Cusps and nodes on plane sections of the singularity locus in the joint space of parallel manipulators play an important role in nonsingular assembly-mode changing motions. This paper analyses in detail such points, both in the joint space…
The goal of this paper is to explain, using a typical example, the distribution of the different assembly modes in the workspace and their effective role in the execution of trajectories. The singular and non-singular changes of assembly…
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,…
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…
This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…