Abstract: A spherical wrist of the serial type with n revolute (R) joints is said to be isotropic if it can attain a posture whereby the singular values of its Jacobian matrix are all equal to n/3. ...

Abstract: This paper investigates the conditions in the design parameter space for the existence and distribution of the cusp locus for planar parallel manipulators. Cusp points make possible nonsingular ...

Abstract: In this paper, two complementary methods are introduced to analyze the sensitivity of a three-degree-of-freedom (3-DOF) translational parallel kinematic machine (PKM) with orthogonal linear joints: ...

Abstract: A new six-dof epicyclic-parallel manipulator with all actuators allocated on the ground is introduced. It is shown that the system has a considerably simple kinematics relationship, with the ...