Position Control of a 3-CPU Spherical Parallel Manipulator

Forward Position Kinematics of a Parallel Manipulator with New Architecture

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

COORDINATE INFLUENCE ON SINGULARITY OF A 3-UPS PARALLEL MANIPULATOR

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...

Position Control of a 3 - DOF 3 - RRR Planar Parallel Manipulator Using Model Predictive Control

This paper presents the position control of a 3-DOF 3-RRR planar parallel manipulator by using the model predictive control. Not only the numerical simulations are demonstrated but also an experimental hardware-in-the-loop system is constructed. The experimental results are used to verify the simulation results. The entire system is designed as a semi-closed loop system. The manipulator is driv...

Singularity Analysis of a 3-rrrr Redundant Spherical Parallel Manipulator

ABSTRACT Study of parallel manipulators highlights the importance of identifying singular configurations (singularities) during the design, and of avoiding them during the operation; because in these configurations the instantaneous kinematics of the manipulator becomes indeterminate. This paper focuses on the determination of singular configurations of a kinematically redundant 3-RRRR spherica...

A closed-form solution for the position analysis of a novel fully spherical parallel manipulator - ERRATUM