...Georg Nawratil In this paper, we determine all nontrivial self-motions of triangular symmetric simplified manipulators (TSSMs) with two parallel rotary axes which equal the determination of all flexible octahedra where one vertex is an ideal point. This study also closes the classification...

...Zhen Huang; Ziming Chen; Jingfang Liu; Shichang Liu It is difficult to manufacture parallel manipulators (PMs) with multiple revolute joint axes intersecting at one point. These types include the 3DOF spherical parallel manipulators (SPMs), the 4DOF 3R1T and 2R2T PMs, the 5DOF 3R2T PMs, etc. PMs...

...Xianwen Kong This paper deals with the forward displacement analysis and singularity analysis of a special 2-DOF 5R spherical parallel manipulator, in which the angle between the axes of any two adjacent revolute joints is a right angle. An alternative formulation of the kinematic equations...

... configuration. This paper further investigates manipulability of the multifingered hand by modeling the contact point as a hypothetical spherical joint. Based on reciprocity relationship of screw systems, the finger Jacobian matrices and the hand Jacobian matrix are established. With singular value...

... determines whether the reference pose is at a constraint singularity and resolves the mobile paths at that singularity. Those results are now extended to a platform manipulator with more than two chains, using a recursive procedure for updating velocity, acceleration, and higher-order descriptions...

...Yi Lu; Jiayin Xu; JianPing Yu; Bo Hu A CAD variation geometry approach is proposed for accurately solving the Euler angles, Euler angular velocity/acceleration, and the active forces due to a concentrated torque of limited-DOF parallel manipulators (PMs). First, a simulation mechanism of PM...

...Xianwen Kong; Clément M. Gosselin A quadratic parallel manipulator refers to a parallel manipulator with a quadratic characteristic polynomial. This paper revisits the forward displacement analysis (FDA) of a quadratic parallel manipulator: 3 -R P ̱ R planar parallel manipulator with similar...

...Qimi Jiang; Clément M. Gosselin The evaluation and representation of the orientation workspace of robotic manipulators is a challenging task. This work focuses on the determination of the theoretical orientation workspace of the Gough–Stewart platform with given leg length ranges [ ρ i min , ρ i...