This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach to solve this problem is the introduction of actuation redundancy, that involves force control algorithms. Another approach, highlighted in this paper, is t...

In this study, we developed parallel link mechanisms by using multi-drive linear motors. Kinematics, dynamics, and control method of a three-degree-of-freedom (xyθ) planar parallel link mechanism with four redundant moving parts (3D4M mechanism) were investigated. A prototype of the 3D4M mechanism, which has decoupled dynamic characteristics, was developed. A notable kinematic characteristic of...

In the present work, graphical enumeration technique is applied for structural synthesis of mechanically constrained planar parallel robot formed by single loop 6bar chain or two 3R chains. Two RR chains are added to the considered system to mechanically constraint the movement of its end-effector. Structural code has been proposed as a new systematic methodology to detect isomorphic graphs. Th...

This work studies a planar parallel mechanism installed on fast-operating automatic machine. In particular, the design is optimized to mitigate experimentally-observed vibrations. The latter are frequent issue in mechanisms operating at high speeds, since they may lead low-quality products and, ultimately, permanent damage goods that processed. order identify vibration cause, several possible f...