This is a new approach to the classification mentioned in the title. We prove that a complete classification is possible in a geometric way if we distinguish the cases whether the linear line complex spanned by the carrier lines of the legs is always singular or not. The proof is based on the result that 5-legged planar parallel manipulators of Stewart Gough type which belong in every possible ...

— 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 s...

In this article the homotopy continuation method (HCM) to solve the forward kinematic problem of the 3-PRS parallel manipulator is used. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is ...

1. Abstract This paper describes an original and robust method to optimize the design of closed-loop mechanisms, especially parallel manipulators. In other words, these mechanisms include assembling constraints we solved using a Newton-Raphson algorithm which may fail when the Jacobian matrix of the constraints is ill-conditioned. Therefore, the technique we propose takes advantage of that cond...

Parallel manipulators have been proposed to overcome accuracy problem in the end effector positioning, exhibited by serial manipulators(Stewart, 1965)(Reboulet, 1988)(Merlet, 2000). These parallel robots are primarly used in the applications for which the considered processes require a high degree of accuracy, high speeds or accelerations. Aircraft simulator (Stewart, 1965), machining tools (Ne...

Performance index is the standard of performance evaluation, and is the foundation of both performance analysis and optimal design for the parallel manipulator. Seeking the suitable kinematic indices is always an important and challenging issue for the parallel manipulator. So far, there are extensive studies in this field, but few existing indices can meet all the requirements, such as simple,...

The international thermonuclear experimental reactor (ITER) is a joint international research and development project that aims to demonstrate the scientific and technical feasibility of fusion power. The reactor tokomak (vacuum vessel) is made of stainless steel, and contains nine sectors welded together; each sector has about the size of 10 meter high and 6 meter wide. The sectors of ITER vac...

Development of automation and robotization in manufacturing process stimulates interest in pneumatic servo-systems whose advantages include low manufacturing costs, high dynamics and reliability (Situm et al., 2004). Unsatisfactory positioning accuracy of multiaxis pneumatic servosytems considerably reduces their application in manipulating machines, manipulators and robots. Rapid advance in pa...

Parallel robotic manipulators have a complicated dynamic model due to the presence of multi-closedloop chains and singularities. Therefore, the control of them is a challenging and difficult task. In this paper, a novel adaptive tracking controller is proposed for parallel robotic manipulators based on fully tuned radial basis function networks (RBFNs). For developing the controller, a dynamic ...

This paper presents an IG3PR-VRI, a novel Virtual Reality (VR) interface for the control of the Isoglide3 Parallel Robot (IG3PR), an effective robotic device with three degrees of freedom manipulation. The IG3PR manipulator introduced in [24], offers the superior characteristics with regards to the other parallel manipulators, such as the light weight construction on one hand, while on the othe...