The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...

This paper presents the design and prototyping of a fully decoupled 3-DOF variable-configuration parallel manipulator with self-aligning called TRIFLEX. This parallel manipulator can change their form to carry out different tasks in different places, this change is managed by additional self-aligning degrees-of freedom. These degrees-of-freedom of self-aligning do not interfere in the motion of...

This paper presents a new method to analyze the closedform kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting pro...

The nonlinearity of the position equations of most parallel manipulators burdens the control and is a serious drawback for industrial applications. In this paper the authors have developed a 5 degrees of freedom parallel manipulator 3T2R whose position equations are explicit and partially decoupled. In order to get that, several platforms, partially actuated by limbs joined to the base, have be...

in this paper a performance analysis is presented for a cable-suspended parallel manipulator. experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. the load-carrying capacity during a given trajectory is obtained. this computational technique is tested on a typical planar cable suspended manipulator. the experim...

The architecture optimization of a newly designed flexure XY parallel micro-manipulator with both input and output decoupling is conducted in this paper. In view of the compliance of flexure hinges, the input stiffness model of the motion stage are established based upon the matrix method, and then the dynamic equation is derived through the Lagrangian approach, which is verified by the modal a...

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...