Abstract This paper is devoted to the control and identification of a manipulator with three anti-parallelogram joints in series, referred as X-joints. Each X-joint tensegrity one-degree-of-freedom mechanism antagonistically actuated cables springs parallel. As compared manipulators built simple revolute offer number advantages, such an intrinsic stability, variable stiffness, lower inertia. de...

Cable-Driven Parallel Robots (CDPRs) are a special kind of parallel manipulator that uses cables to control the position and orientation mobile platform or end effector. The use instead rigid links offers some advantages over their conventional counterparts. As can only pull but not push, number (n) required command end-effector is always n+1. This configuration known as fully-constrained, it m...

Parallel manipulator robots have complex kinematics and present singular positions within their workspace. For these reasons, in most software simulating parallel robots, each kinematic model should be given in advance by users or programmers. In this paper we present a new tool used to design and to simulate parallel manipulator robots. Explicit kinematic equations are generated automatically ...

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. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

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In this paper, the mathematical model of the posture inverse kinematics is established. According to the structure of 2DOF parallel manipulator, the simulation model of mechanism is built using the Matlab/SimMechanics. The kinematics simulation of the parallel manipulator is obtained and confirmed correct. With the Virtual Reality Toolbox, the virtual reality of the parallel manipulator is carr...

Robotic automation has been the major driving force in modern industrial developments. High speed pick-and-place operations ...nd their place in many manufacturing applications. The goal of this project is to develop a class of high speed robots that has a planar workspace. The presented robots are intended for pick-and-place applications that have a relatively large workspace. In order to achi...