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A novel approach for 2-degrees of freedom redundant parallel manipulator dynamics
Advances in Mechanical Engineering, 2017 A novel Udwadia–Kalaba approach for redundant parallel manipulator dynamics is presented in this article. This methodology is explicit and simple which is suitable for systems with holonomic or non-holonomic constraints.
Rongrong Yu +3 more
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Rotation symmetry axes and the quality index in a 3D octahedral parallel robot manipulator system [PDF]
, 2002 The geometry of a 3D octahedral parallel robot manipulator system is specified in terms of two rigid octahedral structures (the fixed and moving platforms) and six actuation legs.
B Mayer +10 more
core +1 more source
Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis [PDF]
, 2015 The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely,
Caro, S +3 more
core +3 more sources
Stiffness Model of a 3-DOF Parallel Manipulator with Two Additional Legs
International Journal of Advanced Robotic Systems, 2014 This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for ...
Guang Yu, Jun Wu, Liping Wang
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Non-Singular Assembly Mode Changing Trajectories of a 6-DOF Parallel Robot [PDF]
, 2012 International audienceThis paper deals with the non-singular assembly mode changing of a six degrees of freedom parallel manipulator. The manipulator is composed of three identical limbs and one moving platform.
Caro, Stéphane +2 more
core +4 more sources
Performance analysis for a 2 (3HSS+S) parallel manipulator with double moving platforms
International Journal of Advanced Robotic Systems, 2016 The working efficiency of a parallel manipulator with double moving platforms is better than a parallel manipulator with a single moving platform. In this study, a 2 (3HSS+S) parallel manipulator is presented, and the topology model of the parallel ...
Gang Cheng, Zunzhong Zhao, Xianlei Shan
doaj +1 more source
International Journal of Advanced Robotic Systems, 2013 The workspace of a spatial 6-DOF electro-hydraulic parallel manipulator is strongly coupled, due to its multi-closed-loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator.
Chifu Yang, Junwei Han
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Advances in Mechanical Engineering, 2013 The first adjustable feed support system in FAST is a six-cable-driven parallel manipulator. Due to flexibility of the cables, the cable-driven parallel manipulator bears a concern of possible vibration caused by wind disturbance or internal force from ...
Zhihua Liu +4 more
doaj +1 more source
On the determination of cusp points of 3-R\underline{P}R parallel manipulators [PDF]
, 2010 This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make ...
Chablat, Damien +3 more
core +5 more sources
Real-time UVMS torque distribution algorithm based on weighting matrix.
PLoS ONE, 2021 This study presents a real-time algorithm for even distributing the torque burden on the parallel manipulator with an autonomous underwater vehicle (AUV) through the cooperation of the AUV and manipulator.
Yecheol Moon +4 more
doaj +1 more source