Most of three-degree-of-freedom (3-DoF) planar parallel manipulators encountered today have a common disadvantage that is their low rotational capability. However, for many industrial applications, by example in automated assembly systems, cutting machines, simulators, or micro-motion manipulators, a high rotation capability is needed. To overcome such a difficulty, this paper focuses its atten...

This paper addresses the problem of singularity-free path-planning for parallel manipulators. Unlike in serial manipulators, where there are only boundary singularities, parallel manipulators also possess singular configurations within the workspace where the manipulators are uncontrollable. Therefore, it is imperative that the generated paths are singularity-free. In this paper, we use a varia...

this paper proposes a discrete-time repetitive optimal control of electrically driven robotic manipulators using an uncertainty estimator. the proposed control method can be used for performing repetitive motion, which covers many industrial applications of robotic manipulators. this kind of control law is in the class of torque-based control in which the joint torques are generated by permanen...

Abstract Cable-driven parallel robot (CDPR) is a type of high-performance that integrates cable-driven kinematic chains and mechanism theory. It inherits the high dynamics heavy load capacities significantly improves workspace, cost energy efficiency simultaneously. As result, CDPRs have had irreplaceable roles in industrial technological fields, such as astronomy, aerospace, logistics, simulat...

In this paper, a systematic methodology for enumeration of the kinematic structures of parallel manipulators is presented. Parallel manipulators are classified into planar, spherical, and spatial mechanisms. The classification is followed by an enumeration of the kinematic structures according to the degrees of freedom and connectivity listing. In particular, a class of parallel manipulators wi...

There are mainly two types of the manipulators: serial manipulators and parallel manipulators. The serial manipulators are open-ended structures consisting of several links connected in series. Such a manipulator can be operated effectively in the whole volume of its working space. However, as the actuator in the base has to carry and move the whole manipulator with its links and actuators, it ...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...