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...

This paper presents a method for the kinematical modeling of robot manipulator arms with flexible members. Development of such techniques are important for the improvement of robotic arms precision performance and their mechanical design. The approach employs the (4X4) Denavit-Hartenberg homogeneous transformations to describe the kinematics of light weight flexible manipulator arms. The method...

This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...

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...

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...

This paper is focused on the study of singularity of planar parallel manipulators taking into account the force transmission, i.e. study of singularity of planar manipulator by introducing the force transmission factor. Thus the singularity zones in the workspace of the manipulator are defined not only by kinematic criterions from the theoretical perfect model of the manipulator but also by the...

Research on joint torque reduction in robot manipulators has received considerable attention in recent years. Minimizing the computational complexity of torque optimization and the ability to calculate the magnitude of the joint torque accurately will result in a safe operation without overloading the joint actuators. This paper presents a mechanical design for a three dimensional planar redund...

This paper presents an obstacle avoidance method for discretely-actuated planar manipulators with a large number of serially connected modules. The method uses a direct combination of the manipulator workspace density functions and obstacle density maps to solve the inverse kinematics of the manipulator, thus avoiding the geometrical modelling of obstacles and the computation of the nearest poi...

A STEWART GOUGH (SG) manipulator, where the platform is similar to the base, is called equiform SG manipulator. It is well known that these SG manipulators with planar platform and planar base only have self-motions, if they are architecturally singular; i.e. the anchor points are located on a conic section. Therefore this study focuses on the non-planar case. We prove that an equiform SG manip...