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...

It was shown recently that parallel manipulators with several inverse kinematic solutions have the ability to avoid parallel singularities [Chablat 1998a] and self-collisions [Chablat 1998b] by choosing appropriate joint configurations for the legs. In effect, depending on the joint configurations of the legs, a given configuration of the end-effector may or may not be free of singularity and c...

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth [1]) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage (Figures 2 & 3). The resulting architecture is hybrid i...