... and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 10 10 2023 17 01 2024 19 01 2024 27 02 2024 Graphical Abstract Figure redundant actuation parallel manipulators actuation coordination singularity analysis performance...

... kinematic sensitivity workspace singularity analysis Social Sciences and Humanities Research Council of Canada 10.13039/501100000155 207-2020-2021-Q4-00905 A cable-driven parallel robot (CDPR) generally consists of a mobile platform (MP) that is connected to a frame by cables...

.... Then, the inverse and forward kinematic problems are solved. The inverse problem is straightforward, while the forward problem can be solved analytically by three different approaches. Afterward, a singularity analysis is presented based on the Jacobian matrices derived from the kinematic model. The mathematical...

... mechanism design parallel platforms singularity analysis topological design In many industrial production lines, process operations require only pure translational motions. Therefore, the three-degrees-of-freedom (3-DOF) translational parallel mechanism (TPM) has a significant potential, thanks...

...] Davidson , J. K. , and Hunt , K. H. , 2007 , Robots and Screw Theory , Oxford University Press , New York . [5] Gosselin , C. M. , and Angeles , J. , 1990 , “ Singularity Analysis of Closed-Loop Kinematic Chains ,” IEEE Tran. Rob. Autom. , 6 ( 3 ), pp. 281 – 290 . 10.1109/70.56660...

... , J. S. , 2012 , “ A New Approach for Singularity Analysis and Closeness Measurement to Singularities of Parallel Manipulators ,” ASME J. Mech. Rob. , 4 ( 4 ), p. 041001 . 10.1115/1.4007004 [18] Huang , T. , Liu , H. T. , and Chetwynd , D. G. , 2011 , “ Generalized Jacobian...

...Xin-Jun Liu; Chao Wu; Jinsong Wang Singularity analysis is one of the most important issues in the field of parallel manipulators. An approach for singularity analysis should be able to not only identify all possible singularities but also explain their physical meanings. Since a parallel...

...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...

... formulation of the kinematic equations of the quadratic spherical parallel manipulator is proposed. The singularity analysis of the quadratic spherical parallel manipulator is then dealt with. A new type of singularity of parallel manipulators—leg actuation singularity—is identified. If a leg is in a leg...

... of the kinematic equations of the Agile Eye is proposed. The singularity analysis of the Agile Eye is then dealt with. After an alternative solution to the FDA has been presented, a formula is revealed that produces a unique current solution to the FDA for a given set of inputs. A regular cube in the input-space...

... effectors kinematics motor drives constant-velocity joint decoupled motion homokinetic transmission orientational mechanism singularity analysis wrist Closed-chain mechanisms, particularly parallel ones, are reputed to exhibit favorable characteristics with respect to their serial...