This work derives a closed-form dynamic model for a two rotational and one translational degrees-of-freedom (2R1T) parallel kinematic mechanism (PKM) with a hybrid rigid–flexible structure for force-control applications. Based on the three-pris...
In this work the velocity, acceleration, and jerk analyses of a two-degrees-of-freedom parallel wrist are approached by means of the theory of screws. For the sake of completeness, the finite kinematics of the manipulator is also investigated. As far...
The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work prese...
The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and an...
This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the...
Continuum robots, possessing great flexibility, can accomplish tasks in complex work scenes, regarded as an important direction in robotics. However, the current continuum robots are not satisfying enough in terms of fabrication and maintenance, and...
In this paper, a spatial parallel mechanism with five degrees of freedom is studied in order to provide a promising dynamic model for the control design. According to the inverse kinematics of the mechanism, the dynamic model is derived by using the...
This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel manipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator’s architecture and mechanical design are elucidated, emphasizing the i...
Cable-driven parallel robots (CDPRs) are attractive for large-space manipulation because of their lightweight structure, large workspace, and reconfigurability. However, existing systems still face three practical challenges: limited modularity of th...
To address the problems of cable slackness and non-smooth cable-tension variation curves during the motion of an antagonistic cable-driven parallel robot (CDPR), this paper focuses on a three-degree-of-freedom (DOF) redundantly constrained CDPR. Firs...
A parallel continuum manipulator (PCM) is a mechanism of closed-loop morphology with flexible elements such that their deformation contributes to its mobility. Flexible hexapods are six-degrees-of-freedom (DoF) fully parallel continuum mechanisms alr...
Driving simulators are widely used for vehicle testing, driver training, and rehabilitation, where the quality of immersion depends largely on reproducing realistic motion sensations. However, the kinematic and dynamic limitations of motion platforms...
Limited workspace and singularities are major challenges for parallel mechanisms. This article addresses these issues for a 4-DOF 1-SPS/3-RRRRR parallel mechanism with a circular rail, proposed in our prior work. The mechanism has a 3R1T motion type...
The forward position solution (FPS) of any complex parallel mechanism (PM) can be solved through solving in sequence all of the independent loops contained in the PM. Therefore, when solving the positions of a PM, all independent loops, especially th...
This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic a...
In the present day, unmanned aerial vehicle (UAV) technology is being used for a multitude of inspection operations, including those in offshore structures such as wind-farms. Due to the distance of these structures to the coast, drones need to be ca...
Additive manufacturing technologies for metals are developing rapidly. Among them, wire arc additive manufacturing (WAAM) has become widespread due to its accessibility. However, parts produced using WAAM require surface post-processing; therefore, h...
This article has as the main subject the exoskeleton devices used in rehabilitation applications of the wrist joint for patients who are in the recovery period after suffering a stroke. Exoskeleton devices have some advantages compared to classic the...
This paper proposes a self-insulating joint design based on the cable-driven parallel-series (CDPS) mechanism and electrical insulation analysis. The design provides the motions, mechanic support, and electrical insulation for robotic arms in live-li...
In construction, a large-scale 3D printing method for construction is used to build houses quickly, based on Computerized Aid Design. Currently, the construction industry is beginning to apply quite a lot of 3D printing technologies to create buildin...
The three-degrees-of-freedom (3-DOF) parallel robot is commonly employed as a shipborne stabilized platform for real-time compensation of ship disturbances. Pose accuracy is one of its most critical performance indicators. Currently, neural networks...
In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools. We introduce a general approach to describe any robotic manipulator using established seria...
Vibratory machines are widely used for the separation of granular materials of various densities and characteristics. Vibrations are used in this case to increase the technological speed of separation of these materials. Vibratory machines are limite...
Compliant mechanisms are popular to the applications of micro/nanoscale manipulations. This paper proposes a novel triaxial parallel-kinematic compliant manipulator inspired by the Tripteron mechanism. Compared to most conventional triaxial compliant...
With the development of nanotechnology that contains automatic control, precision machinery and precise measurement, etc., micro/nano manipulation has become a new research direction in recent years. This paper presents the design and analysis proced...
Quaternions are used in various applications, especially in those where it is necessary to model and represent rotational movements, both in the plane and in space, such as in the modeling of the movements of robots and mechanisms. In this article, a...
The recent growth in e-commerce has significantly increased the demand for indoor delivery solutions, highlighting challenges in last-mile delivery. This study presents a time-interval-based collision detection method for Four-Wheel Independent Steer...
Traditional 3-RRS and 3-RPS mechanisms adopt open-chain limbs, where R, P, and S denote revolute, prismatic, and spherical joints, respectively. Although these mechanisms are widely used, they suffer from insufficient stiffness and accuracy under hea...
Parallel kinematic machines (PKMs) are a class of robots that have long been recognized for their higher stiffness and high payload-to-weight ratio and precision compared to their serial counterparts [...]
16 March 2021
There are numerous programs worldwide adapted for alpine ski beginners and they all share the same primary goal—inclusion of skiing beginners in alpine ski schools. The final elements of ski school taught in the parallel skiing technique are parallel...
Translational parallel manipulators (TPMs) with DELTA-like architectures are the most known and affirmed ones, even though many other TPM architectures have been proposed and studied in the literature. In a recent patent application, this author has...
The spacecraft docking motion simulation system for on-orbit docking plays a very important role in some theoretical research and engineering application fields. The parallel robot utilized in the spacecraft docking simulation system requires high po...
Tree-climbing robots are primarily utilized for pruning and harvesting in tall trees; however, limited structural degrees of freedom (DoFs) reduce their flexibility in complex environments. To improve the flexibility and environmental adaptability of...
Accurate kinematic calibration of subreflector actuators is essential for pointing precision of large radio telescopes, particularly at high frequencies. Conventional least-squares methods are vulnerable to noise and outliers, and their accuracy may...
This article describes an efficient and effective strategy for limiting the workspace of a six degrees of freedom parallel manipulator, with challenging motion smoothness requirements due to both the high inertia objects carried by the end effector a...
(1) Background: This study aimed to examine the differences in the kinetic energy of the body’s center of mass between successful and unsuccessful attempts at transitioning from a basket to a handstand on the parallel bars. Special attention wa...
The process of material removal from a workpiece to obtain the desired shape is termed machining. Present-day material removal technologies have high spindle speeds and thus allow quick material removal. These high-speed spindles are highly exposed t...
Based on the constraint and position identification (CPI) approach for synthesizing XYZ compliant parallel mechanisms (CPMs) and configuration modifications, this paper proposes a new fully-symmetrical XYZ CPM with desired motion characteristics such...
The accelerating industrial demand for high-speed manipulation has necessitated the development of robotic architectures that effectively balance dynamic performance with workspace size. While serial SCARA robots offer large workspaces and parallel D...
Kinematic redundancy of manipulators is a well-understood topic, and various methods were developed for the redundancy resolution in order to solve the inverse kinematics problem, at least for serial manipulators. An important question, with high pra...
It has been nearly 60 years since the introduction of the Gough–Stewart manipulator (GSM). With the advantages of superior load capacity and high precision, the GSM still plays an important role in many fields. However, the GSM has limitations...
This paper first designs a new 5-DOF parallel mechanism with 5PUS-UPU, and then analyses its DOF by traditional Grubler–Kutzbach and motion spiral theory. It theoretically shows that the mechanism meets the requirement of five dimensions of freedoms...
To meet the special requirements of the third mirror adjustment system for an optical telescope, a 6-P-RR-R-RR parallel platform using offset RR-joints is designed with high precision, a large load-to-size ratio and high stiffness. In order to improv...
Laser beams can fluctuate in four directions, which requires active compensation by a fast steering mirror (FSM) motion system. This paper deals with the design of four-degrees-of-freedom (DoF) compliant parallel manipulators, for responding to the r...
In this paper, a goniometer-type specimen stage with a linear actuation mechanism mounted on a rotation mechanism is introduced. The linear actuation mechanism was modeled as a spatial parallel manipulator consisting of a moving body, three linear ac...
The platforms of parallel mechanisms usually suffer vibration loads. In these cases, structure elastodynamic analysis and elastodynamic optimization of parallel mechanisms are important. A tube structure is very common for parallel mechanisms. This w...
A novel 3(Rc)PU parallel mechanism based on the reconfigurable circular groove cross joint (Rc joint) is proposed. The motion branch transformation relationship and constraint performance evaluation method for the mechanism are studied. According to...
Recent simulation developments in Computational Fluid Dynamics (CFD) have widely increased the knowledge of fluid–structure interaction. This has been particularly effective in the research field of floating bodies such as offshore wind turbine...
In this paper, a biologically congruent parallel mechanism (PM) inspired by the masticatory system of human beings has been proposed to recreate complete chewing behaviours in three-dimensional space. The mechanism is featured by direct constraints f...
For 3D printing based on Digital Light Processing (DLP) technology, the tradeoff of size and resolution remains challenging due to the limitations of the existing techniques. Therefore, we propose an approach to improve the feature resolution without...
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