Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spheri...

Kinematic feasibility of a planned robot path is restrained by the kinematic constraints of the robot executing the task, such as workspace, configuration, and singularity. Since these kinematic constraints can be described utilizing the geometry of the given robot, corresponding regions within the robot workspace can be expressed in geometrical representation. Consequently, geometric informati...

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same pres...

In this paper, the control of free-floating space manipulator systems with non-zero angular momentum (NZAM), for both motions in the joint and Cartesian space, is studied. Considering NZAM, dynamic models in the joint and Cartesian space are derived. It is shown that the NZAM has a similar result to the effect of gravity in terrestrial fixed base manipulators. Based on these similarities, the a...

One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the...

The workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, this volume is difficult to compute and represent, and comprehension on its structure is being gained by studying its three-dimensional slices. While successful methods have been given to determine the constantor...

A new kind of parallel mechanism machine called the CGT (Cartesian-Guided Tripod) for three-axis machining, CGP (Cartesian-Guided Pentapod) for five-axis machining, and CGH (Cartesian-Guided Hexapod) for six-axis positioning is presented on this paper. The CGT/CGP/CGH has two kinds of functional independent legs: the driving functional leg and the integrated Cartesian guiding/metrology function...

This paper is devoted to calculating the Cartesian stiffness matrix of a translational parallel manipulator with elastic joints. The calculation takes into account the contribution of the Jacobian variation because of the change of manipulator configuration due to the elasticity and it covers the entire theoretical workspace of the manipulator. Three kineto‐static adimension...

Ordinarily, a robot workspace has insufficient room to allow the setup of multiple applications simultaneously. As a result, it is common practice to use modular fixtures which hold the workpiece while the robot performs one of the applications. When the product line is to be changed, the fixture is replaced. Doing this generally requires reprogramming the manipulator. When performing this repr...

The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval analysis based method. The parallel mechanisms can admit several solutions to the inverses and the direct kinematic models. These singular configurations divide th...