This paper proposes two optimal design schemes for improving the kinematic and dynamic performance of the 3-PSS flexible parallel micromanipulator according to different application requirements and conditions. Firstly, the workspace, dexterity, freq...
This paper presents a three-degrees-of-freedom origami parallel robot that is free from parasitic motion. This robot is designed to achieve one translational and two rotational motions within its workspace, enabling precise orientation about a fixed...
In rigid lower-mobility parallel manipulators the motion of the end-effector is partially constrained due to a combination of passive kinematic pairs and rigid components. Translational mechanisms, such as the Delta manipulator, are the most common o...
In this paper, an estimation algorithm for human interaction forces is presented, which can potentially be applied when a Parallel Kinematic Manipulator (PKM) is used on supervised physiotherapy exercises. The estimation algorithm is based on the dyn...
In the last decades, the Robot Selection Problem (RSP) has been widely investigated, and the importance of properly structuring the decision problem has been stated. Crucial aspect in this process is the correct identification of the robot attributes...
This article deals with the development of a simple model to evaluate the first natural frequencies of over-constrained parallel kinematic machines (PKMs). The simplest elasto-dynamic models are based on multi-body approaches. However, these approach...
Spherical parallel robots (SPR) are widely used in industries and robotic rehabilitation. Designing such systems for better balance properties is still a challenge. This paper presents a work to minimize the shaking moment for a fully force-balanced...
A spatial redundantly actuated parallel mechanism (RAPM) constrained by two point contact higher kinematic pairs (HKPs) has been designed, arising from the inspiration of mastication in human beings: the end effector is the lower jaw, the six kinemat...
High efficiency and precision machining of complex components with spatial free-form surface features is facing significant scientific challenges, which put forward higher requirements for the design of machining equipment. Considering the requiremen...
This paper describes the optimal design of a 3-DOF redundant planar parallel kinematic mechanism (PKM) based finishing cut stage to improve the surface roughness of FDM 3D printed sculptures. First, to obtain task-optimized and singularity minimum wo...
The human ankle exhibits complex multiplanar behavior involving plantarflexion, dorsiflexion, inversion, eversion, and coupled orientation changes that are essential for balance and terrain adaptation. This work presents the design, kinematic evaluat...
The forward kinematics in parallel manipulators is a mathematically challenging issue, unlike serial manipulators. Kinematic constraint equations are non-linear transcendental equations that can be reduced to algebraic equations with appropriate tran...
This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizo...
Wrist rehabilitation requires high precision, haptic transparency, and accurate alignment with the human joint’s physiological center of rotation. Conventional robotic systems often suffer from high moving inertia or joint misalignment. This pa...
Kinematic accuracy is a crucial indicator for evaluating the performance of mechanisms. Low-mobility parallel mechanisms are examples of parallel robots that have been successfully employed in many industrial fields. Previous studies analyzing the ki...
This paper deals with an up-to-date topic among robotic industrial applications that require a high degree of speed, rigidity, and orientation. Currently, when technology and software applications reach a high level of performance, in various robotic...
Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial mechanisms, such as increased stiffness, high...
Parallel-kinematic machines or parallel robots have only been established in a few applications where their advantage over serial kinematics due to their high payload capacity, stiffness, or dynamics with their limited workspace-to-installation-space...
There are limited parallel robots applicable to three-axis grinding machines due to the restricted reachable workspace originating from multiple kinematic chains with spatial kinematic joints. The parallel robot will gain significant potential in the...
This paper focuses on the design analysis of a novel 5-degrees of freedom (DOF) double-driven parallel mechanism (PM). By arranging two independent actuators on one branch chain, the mechanism can realize the five degrees of freedom of the moving pla...
Parallel kinematic machines (PKMs) have demonstrated their potential in many applications when high stiffness and accuracy are needed, even at micro- and nanoscales. The present paper is focused on the functional design of a parallel platform providi...
This paper presents the concept of a parallel medical robotic service system to assist in a surgical procedure involving precise exploratory trepanation holes in a patient’s skull. The target position and orientation of the trepanation tool in...
Venous blood sampling is a common procedure in medical diagnosis and treatment. However, the stationary manual blood sampling method in current use not only requires human resources but also is inconvenient for elderly persons and patients with limit...
To overcome the bearing capacity deficiencies of traditional serial hip joint simulators, complex trajectory simulation, among others, as well as a parallel manipulator with two pairs of artificial hip joints and two moving platforms are proposed. Th...
The paper proposes a mathematical method for redefining motion parameterizations based on the joint-space representation of parallel robots. The study parameters of SE(3) are used to describe the robot kinematic chains, but, rather than directly anal...
A parallel mechanism’s pose is usually obtained indirectly from the active joints’ coordinates by solving the direct kinematics problem. Its accuracy mainly depends on the accuracy of the measured active joints’ coordinates, the tol...
Optical systems for unmanned aerial vehicle (UAV) detection and tracking are predominantly deployed on stationary platforms, which limits operational mobility and increases the vulnerability of fixed installations under adverse operating conditions....
This paper presents and investigates a new three-rotation (3R) parallel compliant mechanism that uses compliant rods to achieve three rotations. The mechanism is designed for use in pointing devices or as a spatial parallel manipulator. The mobility...
Parallel robots with configurable platforms are a class of robots in which the end-effector has an inner mobility, so that its overall shape can be reconfigured: in most cases, the end-effector is thus a closed-loop kinematic chain composed of rigid...
Stereo garage technology can effectively alleviate the problem of parking difficulties, but the safety problems of its actuators, via which the core of stereo parking function can be realized, seriously affect its promotion and further development. I...
Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kine...
The control of flexible link parallel manipulators is still an open area of research, endpoint trajectory tracking being one of the main challenges in this type of robot. The flexibility and deformations of the limbs make the estimation of the Tool C...
This paper deals with the mechanical design and kinematic analysis of an autonomous wrist for space assembly (AWSA) whose actuators are activated by DC motors and ball screw drives. This robotic wrist was developed and built as a prototype to investi...
The patient population needing physical rehabilitation in the upper extremity is constantly increasing. Robotic devices have the potential to address this problem, however most of the rehabilitation robots are technically advanced and mainly designed...
The systems that use parallel kinematic structures in additive manufacturing technology are particularly notable for their ability to provide exceptional precision and efficiency in the fabrication of intricate geometrically shaped items. This study...
Delta parallel robots have been widely used in precision processing, handling, sorting, and the assembly of parts, and their high efficiency and motion stability are important indexes of their performance.Corners created by small line segments in tra...
This study aimed to develop a novel 3D parallel mechanism robot driven by three vertical-axial pneumatic actuators with a stereo vision system for path tracking control. The mechanical system and the control system are the primary novel parts for dev...
Due to the Jacobian matrix rank reduction near singularities, applying numerical methods to study PMs’ motion stability at singularities is quite difficult. As a result, there is a scarcity of literature on the investigation of PMs’ dynam...
The planar three-degree-of-freedom (DoF) parallel mechanism plays a significant role in the fields of automobiles and electronics due to its advantages such as high stiffness, large carrying capability, and stable operation. In this paper, a planar 3...
This article deals with the functional and preliminary design of a reconfigurable joint for robotic applications. Such mechanism is a key element for a class of lower mobility parallel manipulators, allowing a local reconfiguration of the kinematic c...
Technological advancements across various sectors are driving a growing demand for large-scale three-degree-of-freedom micro–nano positioning platforms, with substantial pressure to reduce footprints while enhancing motion range and accuracy. T...
The development of a new parallel mechanism based on simulation driven design is a rapid approach to discover the unique features or advantages of a conceptual model. In this research, one novel parallel mechanism which can generate three degrees-of-...
This study aims to address the clinical needs of hemiplegic and stroke patients with lower limb motor impairments, including gait abnormalities, muscle weakness, and loss of motor coordination during rehabilitation. To achieve this, it proposes an in...
Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical transmissi...
The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enab...
This paper presents the design, implementation, and experimental results of a six-degree-of-freedom Delta-type parallel manipulator, in which all actuators were realized using proprietary pneumatic muscles. The objective of the study was to evaluate...
Minimally invasive surgery (MIS) has transformed modern surgical operations by reducing pain, trauma, scarring and recovery time for the patient. However, precision, stability and accuracy continue to limit surgical performance. Robots can exhibit be...
The Stewart–Gough Platform (SGP) is a spatial parallel manipulator offering high accuracy, rigidity, and adaptability, with applications spanning medical systems, marine engineering, agriculture, manufacturing, entertainment, aerospace, and arc...
The paper aims to present a mechatronic device able to micro-position the workpiece and to reject disturbances due to machining operation. A decoupling method is proposed for a parallel kinematic machine (PKM) fixturing platform composed by a 3-DoF f...
The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...
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