Abstract: This paper introduces a novel approach for the computation of the inverse dynamics of parallel manipulators. It is shown that, for this type of manipulator, the inverse kinematics and the ...

Abstract: This paper presents an algorithm for the optimization of the workspace of planar manipulators. The objective is to be able to synthesize manipulators whose workspace is as close as possible ...

Abstract: The kinematic analysis and the determination of the singularity loci of spatial four-degree-of-freedom parallel manipulators with prismatic or revolute actuators are discussed in this article. A ...

Abstract: This paper presents a genetic algorithm approach for the synthesis of planar three-degree-of-freedom parallel manipulators. A genetic algorithm is an optimization method inspired by natural evolution. ...

Abstract: This paper proposes some new polynomial solutions to the trajectory planning problem encountered in pick-and-place operations. When a robotic manipulator is used for such operations, it is possible ...

Abstract: In this paper, the direct kinematics of general spherical parallel three-degree-of-freedom manipulators is investigated. A polynomial of degree 8 is obtained to describe this problem and it is ...

Abstract: This paper presents a polynomial solution to the direct kinematic problem of a class of spherical three-degree-of-freedom parallel manipulators. This class is defined as the set of manipulators ...

Abstract: This article presents a method for deriving the equations describing the motion of tree-structured mechanical systems of n rigid bodies linked to one another by spherical, universal and/or ...

Abstract: A study of the kinematic characteristics of a three degree-of-freedom (dof) parallel mechanism is presented. The architecture of the mechanism is comprised of a mobile platform attached to a ...