Parallel manipulators are robotic devices that differ from the more traditional serial robotic manipulators by their kinematic structure. Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are pass...

The SC method is applied to a seven-DOF manipulator arm with a spherical wrist and zero joint offsets, such as the Mitsubishi Heavy Industries PA-10 arm. We obtain two vector fields for driving the positioning subchain and one vector field for the wrist, in analytical form. The former two vector fields are used to realize decoupled motion control of the end-effector and the arm plane, respectiv...

Abstract The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) anthropomorphic hydraulically actuated with novel roll-pitch-yaw spherical ...

This paper deals with the dynamic modeling and design optimization of a three Degree-of-Freedom spherical parallel manipulator. Using the method of Lagrange multipliers, the equation of motion is derived by considering its motion characteristics, namely, all the components rotating about the center of rotation. Using the derived dynamic model, a multiobjective optimization problem is formulated...

Closed-form solutions were developed to optimize kinematics design of a 2-degree-of-freedom (2DOF) planar parallel manipulator. The optimum design based on the workspace was presented. Meanwhile, a global, comprehensive conditioning index was introduced to evaluate the kinematic designs. The optimal parallel manipulator is incorporated into a 5-DOF hybrid machine tool which includes a 2-DOF rot...

The subject of this paper is about the kinematic analysis and the trajectory planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of freedom parallel kinematic machine developed at IRCCyN and is made up of a hybrid architecture, namely, a three degrees of freedom translational parallel manipulator mounted in series with a two degrees of freedom parallel spherical wrist. The s...

This paper studies the workspace of a six-DC)F parallel manipulator of three-PPSR (prismatic-prismaticspheric-revolute) type. It is well recognized that the most significant drawback of parallel manipulators is their limited workspace. To develop new parallel mechanisms with a larger workspace is of interest to additional applications. The mechanism of the three-PPSR manipulator and its variati...

The workspace of manipulator can be defined as the operational area of the end effector. Because the moving platform of the parallel manipulator with six degree-of-freedom have six independence degree-offreedoms, it means the workspace has six-dimensional, the six-dimensional workspace is difficult to be directly calculated and unable to do graphic description. For the project of this article-3...