This paper is concentrated on control system design for an XY parallel micromanipulator with piezoelectric actuation. The decoupled property of the manipulator enables the employment of single-inputsingle-output controllers for the two working axes. To compensate for nonlinear hysteresis effect stemming from piezoelectric actuator, the dynamics with Bouc-Wen hysteresis model is derived and iden...

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...

This work introduces a new architecture for a parallel, six degree of freedom manipulator. The kinematic analysis of this redundant manipulator is provided. The proposed parallel mechanism allows easy implementation of redundant actuators, and has relatively large workspace in comparison to conventional six degree of freedom parallel devices. The kinematic analysis performed forms the basis for...

In our previous work (2008, “Optimal Force Generation in Parallel Manipulators for Passing through the Singular Positions,” Int. J. Robot. Res., 27(8), pp. 967–983), the dynamic properties of rigid-link parallel manipulators, in the presence of type 2 singularities, have been studied. It was shown that any parallel manipulator can pass through the singular positions without perturbation of moti...

In this paper the design of a new DOF RPRS parallel manipulator has been proposed Di erent from the conventional Stewart Gough platform manipulator which has six extensible legs the RPRS parallel manipula tor employs three identical RPRS legs to support the mov ing platform Consequently it possesses a compromised per formance e g workspace accuracy and sti ness between a serial robot and a six ...

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the ...

The concept of a medical robot constructed by parallel mechanisms for chest compressions in rescuing a patient is proposed in this paper. In light of the requirements of cardiopulmonary resuscitation (CPR) from medical aspects, a new translational parallel manipulator employing the architecture of DELTA parallel robot is designed, which utilizes an architectural optimization methodology for suc...