...Dong Liang; Yi Mao; Yimin Song; Boyan Chang; Tao Sun In this paper, a novel Selective Compliance Assembly Robot Arm (SCARA) high-speed parallel manipulator that can realize three-translation and one-rotation motion is proposed, and an accurate dynamic modeling methodology is investigated...

... (where P , P, R, S, and U stand for the actuated prismatic joint, passive prismatic joint, revolute joint, spherical joint, and universal joint, respectively). The proposed RHR consists of two parallel manipulators (PMs), in which one is a spatial 3 P RR PM with one translational degree-of-freedom (DOF...

...Ziying Lin; Lingmin Xu; Ye Ding; Xiangyang Zhu Redundantly actuated parallel manipulators with two rotations and one translation (2R1T RAPMs) have the potential for machining complex surfaces, where a large orientation workspace and high stiffness are required. Considering the advantages...

... for the deformation prediction and compensation in real industrial working conditions. In order to verify the effectiveness and correctness of this method, a 3 P RRU parallel manipulator will be introduced as an example, to compare the load-deformation results with the finite element analysis (FEA) simulation...

...Han-liang Fang; Teng-fei Tang; Zhen He; Jun Zhang Redundantly actuated parallel manipulator (RAPM) has been proved to have comparative advantages of higher rigidity and higher payload over other parallel manipulators. This paper is to quantitatively reveal the effect of redundancy on rigidity...

... The distribution of actuating forces in the workspace when applying unidirectional couples in different directions: the direction of the unidirectional couples is along (a) the x-axis, (b) the y-axis, and (c) the z-axis parallel manipulator 2-DOF passive limb static analysis mechanism design parallel...

...Jun Wu; Jiahao Qiu; Hao Ye The small actuator torque range brings advantages for the high-accuracy control of a manipulator. By taking the minimum actuator torque range into account, this paper proposes a novel torque optimization method of a 3-DOF redundantly actuated parallel manipulator...

.... In addition, for a two-level parallel robot like the robot proposed in the paper, the compliance of the base of the second-level parallel manipulator (also known as the mobile platform of the first-level parallel manipulator) also has a great influence on the robot stiffness. Therefore, based on the FEA...

... , “ Singularity Analysis of Closed-Loop Kinematic Chains ,” IEEE Trans. Robot. Autom. , 6 ( 3 ), pp. 281 – 290 . 10.1109/70.56660 [12] Wu , C. , Liu , X. J. , and Wang , J. S. , 2009 , “ Force Transmission Analysis of Spherical 5R Parallel Manipulators ,” The 2009 ASME/IFToMM...

...Yundou Xu; Fan Yang; Zhenghe Xu; Jiantao Yao; Yulin Zhou; Yongsheng Zhao This paper studies the stiffness and experiment of a five-degrees-of-freedom (DOF) hybrid, serial–parallel, manipulator, with all rotating axes being continuous: TriRhino. First, the motion principle of the hybrid manipulator...

...Bo Hu; Dongsheng Shi; Tengfei Xie; Bibo Hu; Nijia Ye This paper derives the kinematically identical manipulators (KIMs) of the 2-RPU + UPR parallel manipulators (PMs) and performs a comparison study among them. Based on the principle for deriving KIMs, ten non-overconstrained and 12 overconstrained...

... 2, 2015. Assoc. Editor: Robert J. Wood. 12 03 2014 30 08 2014 02 04 2015 This paper presents a finite element method (FEM) for the kinematic solution of parallel manipulators (PMs), and this approach is applied to analyze the kinematics of a parallel hip joint manipulator...

... ), Washington, DC, May 11–15, Vol. 2 , pp. 1876 – 1881 . 10.1109/ROBOT.2002.1014814 [42] Baumann , R. , Maeder , W. , Glauser , D. , and Clavel , R. , 1997 , “ The PantoScope: A Spherical Remote-Center-of-Motion Parallel Manipulator for Force Reflection ,” IEEE International Conference...

...Chao Chen; Thibault Gayral; Stéphane Caro; Damien Chablat; Guillaume Moroz; Sajeeva Abeywardena A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the complete...

...Xin-Jun Liu; Chao Wu; Jinsong Wang Singularity analysis is one of the most important issues in the field of parallel manipulators. An approach for singularity analysis should be able to not only identify all possible singularities but also explain their physical meanings. Since a parallel...

...Montserrat Manubens; Guillaume Moroz; Damien Chablat; Philippe Wenger; Fabrice Rouillier This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible nonsingular assembly-mode...

... on the design of such a mechanical system are demonstrated by means of several benchmark examples. 12 06 2009 29 06 2011 26 09 2011 26 09 2011 actuators kinematics robot kinematics wheels kinematics parallel manipulator omnidirectional wheels The kinematics...

... general-type architectures of 4DOF parallel manipulators with potential applications are synthesized systematically in consideration of the actuated pairs near the fixed base. 26 04 2009 04 03 2010 30 03 2011 30 03 2011 Schoenflies motion Schönflies double Schoenflies motion...

...Yi Lu; Bo Hu; Jianda Han; Jianping Yu To solve the velocity and acceleration of legs with different structures is a fundamental and challenging issue for dynamics analysis of parallel manipulators (PMs). In this paper, the kinematics of linear legs with different structures for limited-degree...

...Chao Chen The mobility or degrees of freedom is a fundamental issue in mechanisms and robotics. In this work, we investigate the mobility of parallel manipulators from a new point of view, and introduce a new concept, the pattern of transform matrix. It is shown that both general and modified...