One of the research directions in recent decades is the construction of manipulators with parallel architecture. These mechanisms are closed-loop structures that consist of numerous separate serial chains acting in parallel and connecting the fixed base to the moving platform. Equipped with revolute or prismatic actuators, parallel manipulators have a robust construction and can move bodies of ...

The kinematic analyses, of manipulators and other robotic devices composed of mechanical links, usually depend on the solution of sets of nonlinear equations. There are a variety of both numerical and algebraic techniques available to solve such systems of equations and to give bounds on the number of solutions. These solution methods have also led to an understanding of how special choices of ...

This paper presents a volumetric error analysis and an architecture optimization method for accuracy of parallel manipulators. A comprehensive volumetric kinematic error model that relates all kinematic error sources in the manipulator’s architecture to the pose errors of the end-effector is derived for HexaSlide (PUS) type parallel manipulators. The error model results in the total error trans...

This paper presents a new methodology of using tetrahedron configurations to determine the forward kinematics of 6-dof parallel manipulators. The approach is introduced in the form of the Tetrahedron Proposition and Theorem using the special characteristics of tetrahedral geometry which are then applied to obtaining the kinematic solutions of two 6-dof parallel manipulators such as the Hunt-Pri...

The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-d.o.f. virtual springs. In contrast to other works, the method includes a FEA-based link stiffness evaluation and employs a new solution str...

Parallel manipulators with lower mobility (LM-PMs) are multi-loop mechanisms with less than six degrees of freedom (dofs). This type of manipulators has attracted the attention both of academic researchers and of industries since the early appearance of the DELTA robot (Clavel 1988). The DELTA robot showed that, when the manipulation task requires less than six dofs, the use of an LM-PM may bri...