This paper studied the stiffness model and characteristics of a planar 3-RPS PM with 3-DOF. The 6 × 6 form stiffness matrix of the planar 3-RPS PM is derived with both active and constrained wrenches considered. To characteristic the stiffness of the planer 3-RPS PM, two decomposition methods including the eigenscrew decomposition and the principle axes decomposition are applied to the stiffnes...

ABSTRACT Study of parallel manipulators highlights the importance of identifying singular configurations (singularities) during the design, and of avoiding them during the operation; because in these configurations the instantaneous kinematics of the manipulator becomes indeterminate. This paper focuses on the determination of singular configurations of a kinematically redundant 3-RRRR spherica...

This chapter is dedicated to the so-called cuspidal robots, i.e. those robots that can move from one inverse geometric solution to another without meeting a singular confuguration. This feature was discovered quite recently and has then been fascinating a lot of researchers. After a brief history of cuspidal robots, the chapter provides the main features of cuspidal robots: explanation of the n...

In the respective publication [1] architecturally singular designs (Ma and Angeles [10] 1 ) of pentapods (5-degree-of-freedom fully-parallel manipulator with an axial spindle as moving platform) with coplanar base attachments are investigated. The authors correctly identified (cf. Section 1 of [1]) pentapods, which are special 5-SPU platforms, as rigid subassemblies in Stewart Gough (SG) platfo...

The parallel mechanism has become an alternative solution when micro manipulators are demanded in the fields of micro manipulation and micro assembly. In this paper, a threeDegree-Of-Freedom (3-DOF) parallel micro manipulator is presented, which is directly driven by three micro gas bubbles. Since the micro gas bubbles are generated and maintained due to the surface tension between the gas and ...

This paper presents a planar parallel mechanism which can achieve very rapid motion due to the low inertia of its moving parts and the use of multiple simultaneous specification (MSS) control. The proposed parallel manipulator was designed based on a Prismatic-RevoluteRevolute kinematic structure. The proximal prismatic joints were realized using a linear slider with a ball screw mechanism. All...

This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto‐static adimension...

Based on a proven exact method to solve the forward kinematics problem , this article investigates the forward kinematics problem formulation specifically applied to planar parallel manipulators. This first part focuses on the position-based equation systems. The majority of planar tripods can modeled by the 3-RPR parallel manipulator. This manipulator is a tripod constituted by a fixed base an...

This paper presents a stable neural identifier for multivariable nonlinear systems. A state-space representation is considered based on both parallel and series-parallel models. No a priori knowledge about the nonlinearities of the system is assumed. The proposed learning rule is a novel approach based on the modification of the backpropagation algorithm. The boundedness of the identification e...

This paper presents modeling, simulation and control of a novel teleoperated mechanism, where two nonisomorphic manipulators are used in one integrated system, with the purpose of usage in Oil and Gas industry in the future. Overall integration of the teleoperated system has been done in the master-slave configuration, where a stuart type 6-DOF parallel manipulator is used as a master robot and...