... in an original 1 R RCM mechanism, resulting in two types of 1 R 1 T RCM mechanisms with partially decoupled motions and base-locating actuators. The kinematic models of one typical proposed mechanism (including the forward and inverse kinematics) and its Jacobian matrix are derived. The performance analysis...

... for publication in the J ournal of M echanisms and R obotics . 21 06 2023 02 01 2024 03 01 2024 05 02 2024 parallel manipulator screw theory kinematic model dynamic model performance analysis parallel mechanisms and robots parallel robots National Natural Science...

... field [ 1 ], PMs with reconfigurability, usually called RPMs, were widely studied in the past decades. National Natural Science Foundation of China 10.13039/501100001809 51705465 51935010 reconfigurable parallel mechanism screw theory kinematic analysis performance analysis...

... of human ankle joint complex. The results of the kinetostatic and dynamic performance analysis indicate that the parallel robot possesses good motion isotropy, high force transfer ratio, large force isotropic radius, and relatively uniform dynamic dexterity within most of the workspace, especially...

... performance analysis motion/force transmissibility articulated platform mechanism design parallel platforms robot design Due to their potential advantages on the compact structure, high stiffness, and good dynamic response, parallel manipulators (PMs) have attracted widespread attention from...