This paper describes the design, construction, and performance analysis of the Eclipse, a redundantly actuated six-degree-of-freedom parallel mechanism intended for rapid machining. The Eclipse is a compact mechanism capable of performing five-face machining in a single setup while retaining the advantages of high stiffness and high accuracy characteristic of parallel mechanisms. We compare num...

Parameter determination and optimization play an important role for parallel kinematic machines since the machines properties depend significantly on an appropriate choice of the geometry. In this paper, the design of parallel machines is formulated in terms of a global constrained optimization problem, where the constraints are deduced from imperative process requirements e.g. size of the work...

The flexure parallel mechanism (FPM) possessing selective actuation (SA) feature can be used as a micromanipulation system. The design of FPMs with the SA characteristic consists of type synthesis of parallel mechanisms possessing the required number of degree of freedom (DOF), geometric arrangement of the structure to obtain the SA and conversion of the kinematic mechanism into the flexure mec...

The paper aims to analyze the kinematics of a three-degreeof-freedom (3-DOF) in-parallel actuated mechanism, which can be used as a wrist robotic device. Basic kinematic models are given. Due to symmetry in mechanism geometry, the input-output polynomial degree derived in position forward kinematics can be considerably reduced. By analyzing the relationship between the independent and dependent...

AbstmctThis paper deals with a novel approach to carry out the design of 3 DOF actuated joints for humanoid robots. Instead of common serial mechanism, a more robust parallel mechanism was'developed. This kind of structure allows the terminal body to move within a cone from the nominal position and permits unlimited rotation about the cone pointing axis. Simulations were conduced to validate th...

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...

A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) ...

A new three-degrees-of-freedom (3-DOF) translational parallel manipulator (TPM) with linear actuators, i.e., 3-CRR TPM, is first proposed. The rotation singularity analysis, the inverse kinematics, the forward kinematics, and the kinematic singularity analysis of the 3CRR TPM are then performed. The analysis shows that the proposed TPM has the following kinematic merits over previous TPMs. (1) ...

In this article, we propose a vision-based kinematic calibration algorithm for Stewart-Gough parallel structures. Information on the position and orientation of the mechanism legs is extracted from the observation of these kinematic elements with a standard camera. No workspace limitation, nor installation of additional proprioceptive sensors are required. The algorithm is composed of two steps...