Abstract: This paper presents a new kinematics model for linearactuated symmetrical spherical parallel manipulators (LASSPMs) which are commonly used considering their symmetrical kinematics and dynamics properties. The model has ...

Abstract: This paper presents a metamorphic parallel mechanism (MPM) which can switch its motion between pure translation (3T) and pure rotation (3R). This feature stems from a reconfigurable Hooke (rT) joint of which one of the ...

Abstract: This paper introduces a new metamorphic parallel mechanism consisting of four reconfigurable rTPS limbs. Based on the reconfigurability of the reconfigurable Hooke (rT) joint, the rTPS limb has two phases while in one phase ...

Abstract: A screw-based formulation of the kinematics, differential kinematics, and statics of soft manipulators is presented, which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed ...

Abstract: This paper introduces a new concept of applying a parallel mechanism in automated fiber placement (AFP) for aerospace part manufacturing. By investigating the system requirements, a 4DOF parallel mechanism consisting of ...

Abstract: In this paper, the modeling, design, and characterization of the passive discrete variable stiffness joint (pDVSJ-II) are presented. The pDVSJ-II is an extended proof of concept of a passive revolute joint with discretely ...