In this article, the problems arising in the design of robots with parallel kinematics are defined. An analysis of the causes of these problems was made. Methods for solving the defined problems applied in modern robots with parallel kinematics are i...
Although the use of adaptive pulleys enhances the motion characteristics of cable-driven parallel robots (CDPRs), it significantly increases the complexity of the kinematics model. Conventional methods often fail to account for the influence of adapt...
The attitude closed-loop control of the parallel platform in the working space needs to determine the relationship between the pose of the top moving platform and the length of each mechanical arm, that is, the kinematics problem of the parallel plat...
“Experiments were conducted at DIMEG, University of Calabria, located in the main campus in Arcavacata di Rende, Italy.” This article focuses on the study of the geometry, direct and inverse kinematics, workspace, and singularity of a nov...
In this paper, we investigate the accuracy and the computational efficiency of an IMU-based approach for solving the direct kinematics problem of parallel mechanisms with length-variable linear actuators under dynamic conditions. By avoiding to measu...
This article presents a model of a novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed design includes an extensible platform, which provides kinematic redundancy....
In this paper, a two-rotational degrees of freedom parallel mechanism with five kinematic subchains (3UPS-UPU-S) (U, P, and S stand for universal joints, prismatic joints, and spherical joints) for an aerospace product is introduced, and its kinemati...
A method for compiling object schemes is proposed, which allows constructing algorithms for calculating the kinematic parameters of robotic manipulators. Examples of compiling object schemes for calculating the velocities and accelerations of points...
In this contribution, a novel translational parallel robot composed of an arrangement of mechanisms with planar motion is presented. Its mobility is analyzed and the position analysis is solved by using equations derived from mechanical constraints....
In this work, an innovative Schönflies motion generator manipulator is introduced, featuring a parallel architecture composed of serial chains with mixed degrees of freedom. Fundamental kinematic aspects essential to any manipulator such as disp...
A unified digital toolbox is introduced for kinematics analysis and dimension synthesis of parallel robots, addressing challenges in configuration diversity and computational complexity. By integrating hierarchical kinematic modeling with screw theor...
Industrial manipulators and parallel robots are often used for tasks, such as drilling or milling, that require three translational, but only two rotational degrees of freedom (“3T2R”). While kinematic models for specific mechanisms for t...
In this work, the kinematics of a spherical parallel manipulator composed of three peripheral limbs equipped with linear actuators and a passive center shaft is approached by means of the theory of screws. The displacement analysis is carried out sol...
This article introduces a novel modification of a Delta-type parallel robot. The robot has five degrees of freedom and provides its end-effector with a 3T2R motion pattern (three translational and two rotational degrees of freedom). The fifth degree...
Wearable lumbar rehabilitation exoskeletons require body-size adaptability and deterministic kinematic modeling. Adjustable wearing structures may alter actuator anchor-point positions, creating inconsistencies in fixed-geometry inverse kinematic mod...
Cable-driven parallel manipulators (CDPMs) have been of great interest to researchers in recent years because they have many advantages compared to the traditional parallel robot. However, in many studies they lack the cable’s elasticity that leads t...
A series-parallel hybrid banana-harvesting robot was previously developed to pick bananas, with inverse kinematics intractable to an address. This paper investigates a deep reinforcement learning-based inverse kinematics solution to guide the banana-...
This study proposed a novel approach for the offline dynamic parameter identification of parallel kinematics mechanisms in which the friction is significant and varying. Since the friction is significant, it should be incorporated to provide an accur...
3-XXRRU parallel manipulators (PMs) constitute a family of six-degrees-of-freedom (DOF) PMs with three limbs of type XXRRU, where R and U stand for revolute pair and universal joint, respectively, and XX indicates any actuated two-DOF mechanism that...
In this paper, we experimentally evaluate the performance of a sensor concept for solving the direct kinematics problem of a general planar 3-RPR parallel mechanism by using solely the linear actuators’ orientations. At first, we review classic...
Aiming at the problems of excessive dependence on manual operations, unquantifiable parameters, low hoisting efficiency, and low level of automation and informatization in the lifting process of spacecraft, a novel cable-driven parallel automatic lev...
This study presents a novel rod–cable hybrid planar cable-driven parallel robot inspired by the biological synergy of bones and muscles. The design integrates rigid rods and flexible cables to enhance structural stability and precision in motio...
Although parallel mechanisms are used in various fields, their application is often limited by singularities and a restricted workspace. Kinematic redundancy is a promising approach for mitigating these issues while also extending the functionality o...
Human-in-the-loop (HIL) immersive simulators integrate a human operator into the simulation loop, enabling real-time interaction with virtual environments. To expose users to controlled acceleration fields, they employ parallel kinematic machines (PK...
This paper proposes a method for kinematic calibration of a 3T1R, 4-degree-of-freedom symmetrical parallel manipulator driven by two pairs of linear actuators. The kinematic model of the individual branched chain is established by using the local pro...
Pose accuracy is one of the most important problems in the application of parallel robots. In order to adhere to strict pose error bounds, a new kinematic calibration method is proposed, which includes a new pose error model with 60 error parameters...
The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and...
Kinematic modelling of parallel manipulators poses significant challenges due to the absence of analytical solutions for the Forward Kinematics (FK) problem. This study centres on a specific parallel planar robot, specifically a 3RRR configuration, a...
This paper introduces a novel dexterous 3-DOF parallel wrist-gripper assembly with a large singularity-free range of motion. It consists of a zero-torsion 2-DOF parallel wrist and a 1-DOF parallel gripper. The wrist produces a 2-DOF sphere-on-sphere...
Three-dimensional (3D) printing technology has been greatly developed in the last decade and gradually applied in the construction, medical, and manufacturing industries. However, limited workspace and accuracy restrict the development of 3D printing...
Researchers borrow ideas from biological characteristics and behavior in design to make bionic robots that can meet unstructured and complex operating environments. The elephant trunk has been widely imitated by bionic robots because of its strong de...
Kinematic modelling is essential for evaluating hybrid manipulators that require both stiffness and spatial adaptability. This paper proposes a modular 3-UPU (universal joint–prismatic joint–universal joint) hybrid serial–parallel m...
The proposed study focuses on the inverse and forward kinematic analysis of a novel 6-DOF parallel manipulator with a circular guide. In comparison with the known schemes of such manipulators, the structure of the proposed one excludes the collision...
Based on the reconfigurable revolute (rR) pair, a reconfigurable decoupled parallel mechanism is proposed, which is composed of three serial chains. Traditional serial chain 1 and 2 are of types PRRR and URC, respectively, where P denotes a prismatic...
This paper presents an overview of the literature on kinematic and calibration models of parallel mechanisms, the influence of sensors in the mechanism accuracy and parallel mechanisms used as sensors. The most relevant classifications to obtain and...
This work presents the kinematic analysis of a redundant planar parallel manipulator within the framework of screw theory. The main contribution of this work is the introduction and kinematic modeling of a novel redundant planar parallel manipulator...
The driving mechanism of an axisymmetric vectoring exhaust nozzle (AVEN) is a 3-degrees-of-freedom (3-DOF) parallel manipulator (PM) with a centering device. According to the characteristics of the vectoring nozzle’s movement mechanism, the 3-D...
Variable-Stiffness Actuators are continuously increasing in importance due to their characteristics that can be beneficial in various applications. It is undisputed that several one-degree-of-freedom (DoF) solutions have been developed thus far. The...
This paper presents a novel parallel manipulator capable of generating two translations (2T), inside a vertical plane, and two rotations (2R), about horizontal axes, which are required in aerospace, manufacturing and rehabilitation fields. These four...
This paper presents a novel method for the calibration of a parallel robot, which allows a more accurate configuration instead of a configuration based on nominal parameters. It is used, as the main sensor with one camera installed in the robot hand...
In this paper, methods of kinematic synthesis and analysis of the RoboMech class parallel manipulator (PM) with two grippers (end effectors) are presented. This PM is formed by connecting two output objects (grippers) with a base using two passive an...
In recent years, cable-driven parallel robots (CDPRs) have drawn more and more attention due to the properties of large workspace, large payload capacity, and ease of reconfiguration. In this paper, we present a kinematic and dynamic modeling and wor...
The modelling, optimization issues and stiffness for several types of three degrees-of-freedom parallel robotic manipulators, i.e., 3-DOF pure translational, 3-DOF pure rotational and 3-DOF mixed motion types, are studied in this paper. First of all,...
This study systematically investigates the kinematic characteristics and static stability of a spatial under-constrained four-cable-driven parallel mechanism, specifically designed for supporting aircraft models in wind tunnel tests. Addressing the i...
Serial-parallel hybrid manipulators featuring remote actuation via parallelogram mechanisms are highly valued for their low inertia and high stiffness. However, the complex nonlinear errors introduced by their multi-stage transmission chains pose sig...
This paper deals with a special architecture of Spherical Parallel Manipulators (SPMs) designed to be a haptic device for a medical tele-operation system. This architecture is obtained by replacing the kinematic of one leg of a classical 3-RRR SPM (R...
The configuration synthesis and kinematic analysis of reconfigurable parallel mechanisms are performed for two motion modes: three-translation (3T) and three-translation-one-rotation (3T1R). Firstly, the degrees of freedom and constraint conditions o...
Lumbar disc herniation is one of the primary causes of lower back pain, and its incidence has significantly increased with the development of industrialization. To assist in rehabilitation therapy, this paper proposes a flexible exoskeleton for activ...
A novel five-degrees-of-freedom (DOF) P(2PRPU)/PRPS double-driven parallel mechanism (PM) is proposed in this study, and its kinematics and stiffness are studied systematically. First, the structural configuration is described, and the degrees of fre...
Parallel Delta robots are widely used in high-speed industrial automation, particularly in food-processing operations that require short cycle times and precise manipulation. Their performance under complex loading conditions, however, remains critic...
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