We have developed a precise and high-speed arm applied to assembly processes in electrical product and machine industries. The arm is designed based on the requirement from Japanese major industries. The paper addresses the background of the development, the required specification for the robot arm, and the brief introduction of the prototype arm and evaluations of accuracy. We test the repeata...

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. By altering the mechanism through, for example, additional kinematic linkages, the singularity can be modi ed or even removed. Another approach is ...

In this paper, we applied the matrix method to kinematic analysis of our translational 3-DOF (Degrees Of Freedom) micro parallel mechanism for an instance of general flexure mechanisms. The matrix method has been well developed in architecture to analyze a frame structure. We found that this method is well applicable to such a flexure mechanism with circular notched hinges as our micro parallel...

In this paper we consider the dynamic modelling of compliant micropositioning mechanisms using flexure hinges. A simple modelling method is presented that is particularly useful for modelling parallel micropositioning mechanisms. This method is based upon linearisation of the geometric constraint equations of the compliant mechanism. This results in a linear kinematic model, a constant Jacobian...

This paper presents the results of a comprehensive study on the efficiency of planar parallel mechanisms, considering their kinetostatic performance and also, their workspace. This aim is approached upon proceeding single- and multi-objective optimization procedures. Kinetostatic performances of ten different planar parallel mechanisms are analyzed by resorting to a recent index, kinematic sens...

The article presents an analysis of the trends in development kinematic structures modern machine-building technological equipment. prospects using machines with parallel kinematics processing, measuring and handling equipment, their advantages disadvantages are demonstrated. It is shown that it inexpedient to use ball screw drives kinematics, performing tasks low accuracy, but displacements mo...

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...