..., this paper presents the development of a multi-DOF needlescopy microwrist for a 2.5 mm instrument developed using a new compliant parallel mechanism (PM) actuated by push-rods. The DOF is two rotational and one translational, a special mobility which is not provided by common laparoscopic wrists...

... , “ Static Balancing of Spatial Three-Degree-of-Freedom Parallel Mechanisms ,” Mech. Mach. Theory 0094-114X , 34 , pp. 437 – 452 . 10.1016/S0094-114X(98)00031-7 Newman , W. S...

...Yangnian Wu; Clément M. Gosselin This paper addresses the dynamic balancing of multi-degree-of-freedom (multi-DOF) parallel mechanisms with multiple legs using the dynamic equivalence between point masses and arbitrary moving platforms. In this technique, proposed elsewhere, the mass and inertia...

... legged locomotion manipulator kinematics end effectors Kinematics Position Analysis Parallel Mechanisms Parallel Structure This paper is a combined version of two papers (DETC2004-57036 and DETC2004-57037) presented at the ASME 2004 Design Engineering Technical Conferences...

...Jian S. Dai; Zhen Huang; Harvey Lipkin The Kutzbach–Grübler mobility criterion calculates the degrees of freedom of a general mechanism. However, the criterion can break down for mechanisms with special geometries, and in particular, the class of so-called overconstrained parallel mechanisms...