This paper presents the feasibility study of an under-actuated parallel manipulator with 6-PUS topology, destined to handle work-tables in CNC machine tools. The proposed device exploits the fact that, in such an application, the path between the initial and final poses of the mobile platform is not assigned to reduce the number of actuators to only one.

The design of a novel prismatic drive 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 was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new tr...

The geometry of a 3D octahedral parallel robot manipulator system is specified in terms of two rigid octahedral structures (the fixed and moving platforms) and six actuation legs. The symmetry of the system is exploited to determine the behaviour of (a new version of) the quality index for various motions. The main results are presented graphically.

The load balanced Birkhoff–von Neumann switch is an elegant VOQ architecture with two outstanding characteristics: (i) it has a computational cost of Oð1Þ iterations and (ii) input controllers do not exchange information (as a result, it allows decoupled implementations with a low power density). The load balancing stage guarantees stability under a broad class of traffic patterns. It may alter...

Inverse dynamic analysis of the 8-PSS redundant parallel manipulator is carried out in the exhaustive decoupled way. The required output of the torque, the power and the work of the driving motor are achieved. The whole actuating torque is divided into four terms which are caused by the acceleration, the velocity, the gravity, and the external force. It is also decoupled into the components con...

Purpose – The purpose of this paper is to propose a calibration method that can calibrate the relationships among the robot manipulator, the camera and the workspace. Design/methodology/approach – The method uses a laser pointer rigidly mounted on the manipulator and projects the laser beam on the work plane. Nonlinear constraints governing the relationships of the geometrical parameters and me...

This paper studies the workspace of a six-degrees-of-freedom parallel manipulator of the general three-PPSR (prismaticprismatic-spheric-revolute) type. It is known that a drawback of parallel manipulators is their limited workspace. To develop parallel mechanisms with a larger workspace is of use to potential applications. The mechanism of a three-PPSR manipulator and its variations are briefly...

This paper proposes a novel modelling approach for heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered structure contains revolute segment rigid links by passive joint and actuated linear hydraulic actuator, thus forming closed kinematic loop. In addition, prismatic segments, consisting of joints driven actuators, also are considered. Expressions actuat...