In this paper, kinematic and workspace analysis of 3-DoF planar Parallel Kinematic Machine (PKM) is carried out. The mechanism consists of three legs in which two legs have Prismatic-RevolutePrismatic joints and other leg has Prismatic-Prismatic-Revolute joints, it termed as 2-PRP and 1-PPR planar parallel kinematic machine. By these joints, the mechanism can achieve two translational motions a...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...

The aim of this paper is the kinematic study of a 3-RPR planar parallel manipulator where the three fixed revolute joints are actuated. The direct and inverse kinematic problem as well as the singular configuration is characterized. On parallel singular configurations, the motion produce by the mobile platform can be compared to the Reuleaux straight-line mechanism.

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. This paper considers an interesting alternative to redundant actuation through the application of additional kinematic constraint via passive joint...

in almost all of the present mathematical models, the upstream subbasins, with overland flow as the dominant type of flow, are simulated as a rectangular plane. however, the converging plane is the closest shape to an actual upstream subbasin. the intricate nature of the governing equations of the overland flow on a converging plane is the cause of prolonged absence of an analytical or semi ana...

The mechanisms of parallel structure are the subject many publications due to specific functional properties these objects, such as load capacity and accuracy This paper offers a solution for determination position planar two degrees mechanism control. Two problems solved: problem transition by executive link through special calculated motor forces pass position. There was proposed tested contr...