Abstract: This paper presents a general and systematic approach for geometric error modeling of lower mobility manipulators. The approach can be implemented in three steps: (1) development of a linear ...

Abstract: This paper presents a new approach to the velocity and acceleration analyses of lower mobility parallel manipulators. Building on the definition of the “acceleration motor,” the forward and ...

Abstract: Taking the 3DOF parallel mechanism within the Tricept robot as an example, this paper presents an analytical approach for the stiffness modeling of parallel kinematic machines having a properly ...

Abstract: This paper deals with the forward position analysis of a 3-DOF parallel mechanism module, which forms the main body of a 5-DOF reconfigurable hybrid robot named TriVariant. The TriVariant is ...

Abstract: This paper deals with the conceptual design of a novel four-degree-of-freedom (dof) modularized robot which is composed of a 2-dof parallel mechanism plus a 2-dof rotating head attached to the ...

Abstract: This paper deals with the conceptual design and optimal dimensional synthesis of a novel 2-DOF translational parallel robot for pick-and-place operations. In a conceptual design phase, the ...

Abstract: Utilizing the virtual work principle, this paper presents a method for the inverse dynamic formulation of the 3-degree-of-freedom (DOF) modules of the well-known Tricept robot and a newly invented ...

Abstract: By taking a 2-DOF high-speed translational parallel manipulator as an object of study, this paper presents an approach that enables the servomotor parameters of parallel robots for pick-and-place ...

Abstract: This paper deals with the conceptual and kinematic designs of a 5-degree of freedom (DOF) reconfigurable hybrid robot. The robot is composed of a 2-DOF parallel spherical mechanism that is ...