This paper studies inverse kinematics and dynamics of a new 4-DOF hybrid (serial-parallel) manipulator. This kind of hybrid manipulator is specially designed for pole/column climbing applications with spatially bent and branching poles/columns. The proposed hybrid manipulator consists of a one-DOF rotary mechanism in series with a 3-DOF planar 3-R PR parallel mechanism. This combination provide...

In this article, an experimental calibration of the constraining linkage of a wire-actuated parallel robot is discussed. The experimental test bed includes a prototyped 4 degrees of freedom wire-actuated parallel manipulator and an optical tracking system. The parallel manipulator employs hybrid actuation ofjoints and wires and includes a rigid branch to constrain the motion of its mobile platf...

This paper is focused on the study of singularity of planar parallel manipulators taking into account the force transmission, i.e. study of singularity of planar manipulator by introducing the force transmission factor. Thus the singularity zones in the workspace of the manipulator are defined not only by kinematic criterions from the theoretical perfect model of the manipulator but also by the...

Title of Dissertation: A THREE DEGREE OF FREEDOM PARALLEL MANIPULATOR WITH ONLY TRANSLATIONAL DEGREES OF FREEDOM Richard Eugene Stamper, Doctor of Philosophy, 1997 Dissertation directed by: Professor Lung-Wen Tsai Department of Mechanical Engineering and Institute for Systems Research In this dissertation, a novel parallel manipulator is investigated. The manipulator has three degrees of freedo...

This paper deals with the error modelling and analysis of a 3-PPR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. An error model is established with considerations of both configuration errors and joint clearances. Using this model, the upper bounds and distributions of the pose errors for this manipulator are establ...

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam, a transmission intended to produce a sliding motion from a turning drive, or vice versa, was reported elsewhere. This transmission provid...

In this paper we apply the kineto-static mathematical models commonly used for robotic hands and for parallel manipulators to an example of handplus-object (parallel manipulator) with three fingers (legs), each with two phalanges (links). The obtained analytical matrix expressions that define the velocity and static equations in both frameworks are shown to be equivalent. This equivalence clari...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the probing task application that requires high bandwidth, active compliance, and high precision. Based on the concept of macro/micro manipulators, the parallel manipulator serves as a wrist of a macro manipulator. The developed manipulator is a class of in-parallel platforms with 3 PRPS( prismatic-re...