The forward kinematics problem of parallel robot consists in computing the position of a solid moving in the three-dimensional space with six points on it constrained to lie respectively on six given spheres. This problem can also be represented by a system of algebraic equations, and it is known to admit at most 40 complex solutions. Our approach consists in adding extra sensors, that give us ...

For translational parallel manipulators (TPMs), topology synthesis methods that can be found in the literature are mainly based on screw theory, instantaneous kinematics, or group theory. In this work, finite displacement equations are used for the topology synthesis of TPM. Serial chains with less than 6 degrees of freedom (DOF) are first investigated and, topological conditions for them to ge...

This paper presents a recursive formulation for the inverse dynamics of a generic twoDegree of Freedom planar parallel manipulator with prismatic actuators, which find applications in positioning, contouring, etc. with high accuracy and precision. The method is based on the Newton-Euler equations of motion and the Decoupled Natural Orthogonal Complement matrices, which relate the angular and li...

Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute ...

c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...

High stiffness, low inertia, large accelerations, and high precision are desirable properties attributed to parallel kinematics machines (PKM). However, relatively small workspace and the abundance of singularities within the workspace partly annihilate the aforementioned advantages. Redundant actuation and novel redundant kinematics are means to tackle these shortcomings. Redundant parallel ki...

This paper investigates the cuspidal configurations of 3-RPR parallel manipulators that may appear on their singular surfaces in the joint space. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a non-singular change of assembly mode. In previous works, the cusp points were calculated in sections of the joint space by solving a 24th-...

This work intends to deal with the optimal kinematic synthesis problem of parallel manipulators. A unified framework is proposed for optimal design of parallel manipulators. By observation that regular (e.g., hyperrectangular) workspaces are desirable for most machines, we propose the concept of effective regular workspace, which reflects both requirements on the workspace shape and quality. De...

The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the non-homogenous design specification, the developed optimization technique transforms all constraints and objectives into similar performance indices related to t...

In this paper, a simple and convenient method – Recursive Matrix method – is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example – a 3-DOF parallel manipulator with prismatic actuators – is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With th...