in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

Parallel manipulators, often called parallel kinematics machines (PKM), are controlled non-linear dynamical systems. From a mechanical point of view PKM are (holonomically) constrained mechanical systems characterized by a power transmission between input and output. A so-called end-effector (EE), representing the mechanical output, is connected to a fixed platform by several (often identical) ...

BACKGROUND The concept of reachable workspace is closely tied to upper limb joint range of motion and functional capability. Currently, no practical and cost-effective methods are available in clinical and research settings to provide arm-function evaluation using an individual's three-dimensional (3D) reachable workspace. A method to intuitively display and effectively analyze reachable worksp...

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this par...

A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the manipulator. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to ...

This paper presents kinematic analysis of B class of parallel manipulators, namely, Hexaslides, for machine tool applications. Hexaslides have constant-length legs. The inverse and direct kinematics solutioos, to study the workspace properties of hexaslides are presented. Various kinematic performance indices, namely, workspace volume, workspace volume index i.e., the ratio of workspace volume ...

This paper analyses the workspace of the three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. These manipulators are classified into different groups with similar kinematic properties. The classification criteria are based on the topology of the workspace. Each group is evaluated according to interesting kinematic properties such as the size of the...

We present a fast algorithm for solving the problem of the verification of a trajectory for a 6-DOF parallel manipulator with respect to its workspace: i.e., given two different postures for the end-effector, is the straight line joining these two postures in the parameters space fully inside the workspace ? This algorithm is based on the analysis of the algebraic inequalities describing the co...

Distributed software modeling is common today, although geographically separated designers need to overcome several communication challenges. Software designers typically use version control systems (VCSs) to integrate their work. However, existing VCSs do not continuously inform all designers of new design decisions and conflicts. Designers often introduce conflicts precisely because they are ...