Given two objectsA andB, we denote their configuration space as C-space and each configuration or point in C-space corresponds to relative configuration (i.e., position and orientation) of A w.r.t B. In the rest of the paper, we assume that A is movable and B is fixed. For 2D objects, C-space has 2 degrees of freedom (DOF) if A can only undergo translation motion, and 3-DOF if we take into acco...

In this paper, a kinematically redundant parallel haptic device with large workspace is presented. The haptic device has a similar kinematic structure to the well‐ known Delta manipulator. However, it has a special arrangement of actuators and one redundant actuator added to the third leg. The proposed haptic device has essentially 4‐DOF, however, only three tra...

We report an experimental highdelity system for making psychophysical measurements on human operators performing real, virtual, and real-remote 3D haptic manipulation tasks. Operators interact with task environments through six-degree-of-freedom (6-DOF) Lorentz magnetic levitation haptic devices. This arrangement allows the operator to exert and experience real, virtual, and real-remote forces/...

A globally consistent solution to the simultaneous localization and mapping (SLAM) problem in 2D with three degrees of freedom (DoF) poses was presented by Lu and Milios [20]. To create maps suitable for natural environments it is however necessary to consider the 6 DoF case, namely the three Cartesian coordinates and the roll, pitch and yaw angles. This article describes the extension of the p...

The flexure parallel mechanism (FPM) possessing selective actuation (SA) feature can be used as a micromanipulation system. The design of FPMs with the SA characteristic consists of type synthesis of parallel mechanisms possessing the required number of degree of freedom (DOF), geometric arrangement of the structure to obtain the SA and conversion of the kinematic mechanism into the flexure mec...

Parallel manipulators have the advantages of high stiffness and low inertia compared to serial mechanisms. Based on the Steward-Gough platform architecture, a lot of 6-DOF mechanical devices have been proposed. The 6-DOF parallel manipulators suffer from a small workspace, complex mechanical design, and difficult motion generation and control due to their complex kinematic analysis. To overcome...