In this paper we apply the kineto-static mathematical models commonly used for robotic hands and for parallel manipulators to an example of handplus-object (parallel manipulator) with three fingers (legs), each with two phalanges (links). The obtained analytical matrix expressions that define the velocity and static equations in both frameworks are shown to be equivalent. This equivalence clari...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

Magnetic coupling is a strategy to transmit actuation forces across a physical barrier. This approach can be applied to remotely control and manipulate robotic instruments in minimally invasive surgery (MIS) [1]. Interrupting the mechanical continuity of such system by having surgical instruments and laparoscopic camera magnetically coupled across the abdominal wall greatly enhances both the wo...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the probing task application that requires high bandwidth, active compliance, and high precision. Based on the concept of macro/micro manipulators, the parallel manipulator serves as a wrist of a macro manipulator. The developed manipulator is a class of in-parallel platforms with 3 PRPS( prismatic-re...

This paper investigates a situation pointed out in a recent paper, in which a non-singular change of assembly mode of a planar 2-RPR-PR parallel manipulator was realized by encircling a point of multiplicity 4. It is shown that this situation is, in fact, a non-generic one and gives rise to cusps under a small perturbation. Furthermore, we show that, for a large class of singularities of multip...

In the article it is proposed to improve wave power plants by using a primary manipulator converter (PMC) with the structure of a parallel six-mobile manipulator for converting energy of waves into mechanical energy. There has been developed a physical model of a primary manipulator converter confirming its functionality. There have been obtained geometrical dimensions of a primary manipulator ...

This paper presents a kinematic analysis of a parallel manipulator we have been developing for the micro-positioning application that requires high control bandwidth and high precision. The developed manipulator is a class of in-parallel platforms with 3 PRPS (prismatic-revolute-prismatic-spherical joints) chain geometry. The main advantages of this manipulator, compared with the typical Stewar...

The design of a mechanical transmission taking into account the transmitted forces is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam, a transmission intended to produce a sliding motion from a turning drive, or vice versa, was reported elsewhere. This transmission provid...

This paper presents a novel 4 dofs (3T-1R) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independentonly limited by the stroke of the prismatic actuators...

We present several prototypes of wire-driven parallel robots that we have recently designed and which use two different actuation schemes. Two of them have been completed and submitted to extensive tests. These tests have allowed to determine interesting open problems related to kinematics that are presented.