This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto‐static adimension...

Based on a proven exact method to solve the forward kinematics problem , this article investigates the forward kinematics problem formulation specifically applied to planar parallel manipulators. This first part focuses on the position-based equation systems. The majority of planar tripods can modeled by the 3-RPR parallel manipulator. This manipulator is a tripod constituted by a fixed base an...

This paper presents a stable neural identifier for multivariable nonlinear systems. A state-space representation is considered based on both parallel and series-parallel models. No a priori knowledge about the nonlinearities of the system is assumed. The proposed learning rule is a novel approach based on the modification of the backpropagation algorithm. The boundedness of the identification e...

This paper presents modeling, simulation and control of a novel teleoperated mechanism, where two nonisomorphic manipulators are used in one integrated system, with the purpose of usage in Oil and Gas industry in the future. Overall integration of the teleoperated system has been done in the master-slave configuration, where a stuart type 6-DOF parallel manipulator is used as a master robot and...

In this paper, telemicromanipulation systems with haptic feedback, which are connected through network, are proposed. It is based on scaled bilateral teleoperation systems between different structures. These systems are composed of an original 6 degree of freedom (DOF) parallel link manipulator to carry out micromanipulation and a 6-DOF haptic interface with force feedback. A parallel mechanism...

This paper presents a dynamic model of a planar parallel manipulator including structural flexibility of several linkages. The equations of motion are formulated using the Lagrangian equations of the first type and Lagrangian multipliers are introduced to represent the geometry of multiple closed loop chains. Then, an active damping approach using a PZT actuator is described to attenuate struct...

Parallel manipulators have the advantages of high stiffness and low inertia compared to serial mechanisms. Based on the Steward-Gough platform architecture, a lot of 6-DOF mechanical devices have been proposed. The 6-DOF parallel manipulators suffer from a small workspace, complex mechanical design, and difficult motion generation and control due to their complex kinematic analysis. To overcome...