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...

A Mobile manipulator consists of a mobile platform carrying a standard robotic arm. Such robotic system merges the dexterity of the manipulator with the increased workspace capabilities of the mobile platform and thus is particularly suited for field and service robotic applications which require both locomotion and manipulation abilities. A number of papers have been presented to address the i...

Null space velocity control is essential for achieving good behaviour of a redundant manipulator. Using the dynamically consistent pseudo-inverse, the task and null space motion and forces are decoupled. The paper presents a globally stable null space velocity controller and the gradient projection technique in conjunction with the dynamically consistent pseudo-inverse. The physical meaning and...

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...

This paper presents a new approach to multi-objective dynamic trajectory planning of Parallel Kinematic Machines (PKM) under task, workspace and manipulator constraints. The robot kinematic and dynamic models, (including actuators) are first developed. Then the proposed trajectory planning system is introduced. It minimizes electrical and kinetic energy, robot travel time separating two samplin...

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...