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Keywords: parallel manipulators
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Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061007.
Paper No: JMR-20-1563
Published Online: June 3, 2021
...Raffaele Di Gregorio Direct position analysis (DPA) of parallel manipulators (PMs) is in general difficult to solve. Over on PMs’ topology, DPA complexity depends on the choice of the actuated joints. From an analytic point of view, the system of algebraic equations that one must solve to implement...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040910.
Paper No: JMR-20-1627
Published Online: April 22, 2021
...Xiansheng Yang; Zhilong Zhao; Hao Xiong; Qinchuan Li; Yunjiang Lou This paper presents a novel Schönflies-motion Parallel Manipulator with Rotational Pitch motion (SPM-RP) based on a single-platform fully parallel mechanism. An analysis of the position, workspace, velocity, and singularity...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021109.
Paper No: JMR-19-1415
Published Online: February 6, 2020
... Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 21 09 2019 05 01 2020 06 01 2020 11 01 2020 parallel manipulators forward and inverse kinematics geometric errors Since the Stewart platform...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031009.
Paper No: JMR-19-1155
Published Online: January 14, 2020
... cable-driven parallel robot with a point-mass end-effector and two mobile bases. 11 04 2019 22 10 2019 22 10 2019 06 11 2019 cable-driven mechanisms mobile robots parallel manipulators Cable-driven parallel robots (CDPRs) are a particular class of conventional...
Journal Articles
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041022.
Paper No: JMR-14-1149
Published Online: November 1, 2015
... condition number is used for optimizing the kinematics performance in the optimization process. A numerical example is presented with physical constraint considerations of a test bed design for AFP. Design optimization Mechanism theory Parallel manipulators AFP is an important manufacturing...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2012, 4(3): 031009.
Published Online: July 2, 2012
.... Each chain is composed of two actuated (therefore underlined) joints and two passive revolute joints. P indicates a prismatic joint while R indicates a revolute joint.) planar parallel manipulators. The dexterous workspace of each nonredundant RRR kinematic chain is first determined using a four-bar...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2011, 3(3): 031009.
Published Online: August 10, 2011
...Sébastien Briot; Vigen Arakelian In the present paper, we expand information about the conditions for passing through Type 2 singular configurations of a parallel manipulator. It is shown that any parallel manipulator can cross the singular configurations via an optimal control permitting...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011010.
Published Online: January 14, 2011
...Grigore Gogu This paper presents a new family of maximally regular T 2 R 1 -type parallel manipulators with bifurcated spatial motion. In each branch, the moving platform has two independent translations ( T 2 ) and one rotation ( R 1 ) driven by three actuators mounted on the fixed base...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. May 2010, 2(2): 021004.
Published Online: April 15, 2010
...Sébastien Briot; Vigen Arakelian In our previous work ( 2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983 ), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031005.
Published Online: July 14, 2009
...Marco Carricato; Clément Gosselin Gravity compensation of spatial parallel manipulators is a relatively recent topic of investigation. Perfect balancing has been accomplished, so far, only for parallel mechanisms in which the weight of the moving platform is sustained by legs comprising purely...