A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...

This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the ...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...

This work intends to deal with the optimal kinematic synthesis problem of Tricept parallel manipulator. Observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. The effectiveness of a workspace is characterized by the dexterity of the manip...

Block-oriented models are often used to model a nonlinear system. This paper presents an identification method for parallel Wiener-Hammerstein systems, where the obtained model has a decoupled static nonlinear block. This decoupled nature makes the interpretation of the obtained model more easy. First a coupled parallel Wiener-Hammerstein model is estimated. Next, the static nonlinearity is dec...

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback ...

This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The re...

A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules, and customizable links and connectors. Due to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a two stage design methodology, from stru...

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 the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the ma...