During the past two decades, parallel manipulator system has become one of the research attentions in robotics. This popularity has been motivated by the fact that parallel manipulators possess some specific advantages over serial manipulators, i.e., higher rigidity and load-carrying capacity, better dynamic performance and a simpler inverse position kinematics, etc. Among various manipulators,...

This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the manipulators. The nonsingular change of assembly mode of 3-RPR parallel manipulators was shown to be associated with the existence of cusp points. At each of th...

This paper deals with control of parallel manipulators for very high acceleration tasks including two case studies. The first one is the case of non-redundant parallel manipulators, where we are interested in control of PAR2 robot for 2D pick-andplace trajectories following. The proposed control scheme in this case is a nonlinear dual mode adaptive controller complied with a high gain state obs...

In this paper, the static balancing of existing spatial and planar parallel manipulators by the addition of balancing elements is addressed. Static balancing is defined here as the set of conditions on manipulator dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any force (or torque) at the actuators for any configuration of the man...