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International Journal of Advanced Robotic Systems, 2014 This paper presents a comparison study of two important three-degree-of-freedom (DOF) parallel manipulators, the Sprint Z3 head and the A3 head, both commonly used in industry. As an initial step, the inverse kinematics are derived and an analysis of two
Xiang Chen +3 more
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Transmission Angle Analysis of a Type of Parallel Manipulators
Applied Sciences, 2022 In most research works, the conditioning index is used to analyze the kinematic performance of a type of parallel manipulators whose traveling plate has only translation in the workspace, and each limb is made up of three joints and two moving links ...
Honglei Che, Congling Shi, Yu Wang
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Flagged Parallel Manipulators [PDF]
IEEE Transactions on Robotics, 2007 Peer ...
M. Alberich-Carraminana +3 more
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Type Synthesis of 5-DOF Hybrid (Parallel-Serial) Manipulators Designed from Open Kinematic Chains
Robotics, 2023 The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains.
Anton Antonov +4 more
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Parallelism in manipulator dynamics [PDF]
Proceedings. 1985 IEEE International Conference on Robotics and Automation, 1985 This paper addresses the problem of efficiently computing the motor torques required to drive a manipulator arm in free motion, given the desired trajectory—that is the inverse dynamics problem. It analyzes the high degree of parallelism inherent in the computations and presents two "mathemati cally exact "formulations especially ...
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Unified Parameterization and Calibration of Serial, Parallel, and Hybrid Manipulators
Robotics, 2021 In this work, we present methods allowing parallel, hybrid, and serial manipulators to be analyzed, calibrated, and controlled with the same analytical tools.
Benjamin L. Moser +2 more
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Internal redundancy: an approach to improve the dynamic parameters around sharp corners [PDF]
Mechanical Sciences, 2013 In recent years, redundancy in parallel manipulators has been studied broadly due to its capability of overcoming some of the drawbacks of parallel manipulators including small workspaces and singular configurations. Internal redundancy, first introduced
S. S. Parsa +2 more
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Wrench-Closure Condition of Cable-Driven Parallel Manipulators
Applied Sciences, 2021 Cable-driven parallel manipulators (CDPM) have parallel structures that consist of moving platforms connected to the fixed platform through many flexible cables. The moving platform is driven by many winches, and because of the unidirectional property of
Phan Gia Luan, Nguyen Truong Thinh
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Parameter identification algorithm of kinematic calibration in parallel manipulators
Advances in Mechanical Engineering, 2016 In this article, a parameter identification algorithm of kinematic calibration in parallel manipulators is proposed and compared with two conventional algorithms.
Yuzhe Liu +3 more
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Applied Sciences, 2022 The forward kinematics in parallel manipulators is a mathematically challenging issue, unlike serial manipulators. Kinematic constraint equations are non-linear transcendental equations that can be reduced to algebraic equations with appropriate ...
Ercan Düzgün, Osman Kopmaz
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