Abstract: This paper describes the design, kinematics, and workspace analysis of 3R2T and 3R3T parallel mechanisms (PMs) with large rotational angles about three axes. Since the design of PMs with high rotational capability is still ...

Abstract: This paper presents a unique feature of geometric constraint of adjacent axes of the variableaxis (vA) joint and analyses the effectiveness in the constructed limb, resulting in variation of mobility configuration of two ...

Abstract: Dexterous hands are an important end-effector of robots, but their relatively low carrying capacity, small workspace and poor task adaptability are the key factors that restrict their wide application. To overcome these ...

Abstract: In this paper, we present the design of a novel 3RUS/RRR redundantly actuated parallel mechanism for ankle rehabilitation based on the principle from the conceptual design. The proposed mechanism can actualize the rotational ...

Abstract: The volume of workspace is a significant kinematic index of parallel manipulator in some applications of engineering. However, the workspace degradation of the manipulator in extreme position is a demanding issue, which ...