An effort made towards the performance improvement for an XY micromanipulator featuring parallel architecture and flexure hinges has been presented in this paper. Through the implementation of four steps evolution of the original structure, a new manipulator with decoupled motion is finally obtained, which owns an enlarged workspace and eliminated stiffening and buckling phenomena. The merits o...

A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

Parallel manipulators (PMs) with decoupled kinematics can be obtained by combining a translational PM (TPM) with a spherical PM (SPM) either in multiplatform architectures or in integrated more-complex architectures. Some of the latter type are inspired by the 6-4 fully parallel manipulator (6-4 FPM), whereas others of the same type are deduced by suitably combining TPMs’ limbs and SPMs’ limbs ...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

A recursive dynamic modeling of a three-DOF parallel robot, namely, threeRevolute-Prismatic-Spherical (3-RPS) parallel manipulator is reported in this work. Euler parameters are utilized to define the 3-DOF orientation of its moving platform, because the coordinates are free of singularity. For the dynamic modeling, the concept of the Decoupled Natural Orthogonal complement (DeNOC) matrices is ...

In parallel manipulator design, usual 6-DOF PMs, like the Stewart platform, suffer from the disadvantages of difficult forward kinematics, coupled motion, and small workspace, so that the motion planing and control become very complicated and difficult to be implemented in real application. Most of the PMs with lower mobility are over-constrained when assembly errors are considered [1]. Therefo...

This paper presents a recursive formulation for the inverse dynamics of a generic twoDegree of Freedom planar parallel manipulator with prismatic actuators, which find applications in positioning, contouring, etc. with high accuracy and precision. The method is based on the Newton-Euler equations of motion and the Decoupled Natural Orthogonal Complement matrices, which relate the angular and li...