An automatic system which serves as a remote centered compliance(RCC) for polishing 3 dimensional surfaces using a passively compliant end effector (double parallel manipulator) mounted on the wrist of the industrial robot is focused in this paper. For enlarging workspace and avoiding singularity, a double parallel manipulator has been designed by combining two parallel mechanisms with respect ...

This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using topological design method of mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed lower-mobility joints actuated prismatic joints, together with the investigations three kinematic issues importance. first aspect pertains to ge...

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...

This paper presents a novel force control scheme for redundant mobile manipulators. Based on a decoupled and linearized dynamic model for integrated mobile platform and on-board manipulator, robotic tasks involving both position and output force control are discussed. Take the advantage of the kinematic redundancy of mobile manipulators, explicit force and position control at the same task dire...

This paper shows the coordinates influence on singularity of a three degree-of-freedom structure, namely, three-Universal-Prismatic-Spherical (3-UPS) parallel manipulator. Rotational coordinates, which are chosen to define the orientation of the platform, affect the singularity of the manipulator. Euler parameters, which don't have any inherent geometrical singularity are utilized, however they...

T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimental...

This paper investigated the design method for 6-DOF parallel micro-manipulators (PMMs) with isotropic/decoupled performances by studying the incidence relationship between outputs and inputs. First, The concept of reducible design is defined, and by using the proposed incidence matrix, the depiction of the incidence relationship between outputs and inputs of 6DOF PMMs is given. Then, the classi...

this article addresses an efficient and novel method for singularity-free path planning and obstacle avoidance of parallel manipulator based on neural networks. a modified 4-5-6-7 interpolating polynomial is used to plan a trajectory for a spherical parallel manipulator. the polynomial function which is smooth and continuous in displacement, velocity, acceleration and jerk is used to find a pat...