Articolul prezintă o modelare recurentă pentru cinematica unui robot paralel plan 3-PRP. Trei lanţuri cinematice plane ce conectează platforma mobilă a manipulatorului sunt situate în plan vertical. Cunoscând mişcarea platformei, se dezvoltă cinematica inversă şi se determină poziţiile, vitezele şi acceleraţiile robotului. Unele ecuaţii matriceale oferă expresi iterative şi grafice pentru depla...

An architecturally singular parallel manipulator is a parallel manipulator with architectural singularities spanning the whole workspace. It should be abandoned in the design process. This paper deals with the generation of architecturally singular 6-SPS parallel manipulators with linearly related planar platforms. The forward displacement analysis of the 6-SPS parallel manipulator with linearl...

When moving from one arbitrary location at another, a parallel manipulator may change its assembly-mode without crossing a singularity. Because the non-singular change of assembly-mode cannot be simply detected, the actual assembly-mode during motion is difficult to track. This paper proposes a global explanatory approach to help better understand non-singular assembly-mode changing motions for...

The significant advantages of parallel robots over serial manipulators are now well known. However, they still pose a serious challenge when considering their kinematics. This paper covers the state-of-the-art on modeling issues and certified solving of kinematics problems. Parallel manipulator architectures can be divided into two categories: planar and spatial. Firstly, the typical planar par...

An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the op...

In this paper, kinematic modeling and singularity and stiffness analysis of a 3-d.o.f. redundant parallel manipulator have been elaborated in detail. It is known that, contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled non-linear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting...

The growing interest in the use of parallel manipulators in machining applications requires clear determination of the workspace and dexterity. In this paper, the workspace optimization of a Tricept parallel manipulator under joint constraints is performed. This parallel manipulator has complex degrees of freedom and, therefore, leads to dimensionally inhomogeneous Jacobian matrices. Here, we d...

A parallel manipulator provides an alternative design to serial manipulators, and can be found in many applications such as mining machines (Arai et al., 1991). Through the design of active joints such that actuators are fixed to the manipulator base, the mass of moving components of the parallel manipulator is greatly reduced, and high speed and high acceleration performance may be achieved. P...