This paper addresses the problem of singularity-free path-planning for parallel manipulators. Unlike in serial manipulators, where there are only boundary singularities, parallel manipulators also possess singular configurations within the workspace where the manipulators are uncontrollable. Therefore, it is imperative that the generated paths are singularity-free. In this paper, we use a varia...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

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...

There are mainly two types of the manipulators: serial manipulators and parallel manipulators. The serial manipulators are open-ended structures consisting of several links connected in series. Such a manipulator can be operated effectively in the whole volume of its working space. However, as the actuator in the base has to carry and move the whole manipulator with its links and actuators, it ...

Based on extensive study on literatures of control of parallel manipulators and serial manipulators, control strategies such as computed torque control, PD+ control, PD with feedforward compensation, nonlinear adaptive control are classified into two categories: model-based control and performance-based control. Besides, as advanced control strategies, robust control and passivity-based control...

This paper investigates the singular curves in the joint space of a family of planar parallel manipulators. It focuses on special points, referred to as cusp points, which may appear on these curves. Cusp points play an important role in the kinematic behavior of parallel manipulators since they make possible a nonsingular change of assembly mode. The purpose of this study is twofold. First, it...

Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic redundancy for parallel manipulators can improve both of these characteristics. This paper presents a family of new kinematically redundant planar parallel manipulators with six actuated-joint degrees ...

Parallel manipulators which are singular with respect to the Schönflies motion group X(a) are called Schönflies-singular, or more precisely X(a)-singular, where a denotes the direction of the rotary axis. A special class of such manipulators are architecturally singular ones because they are singular with respect to any Schönflies group. Another remarkable set of Schönfliessingular planar paral...