Abstract: It is a generally well-known fact that the design of parallel mechanisms while optimizing performance is quite difficult. In this paper, a reliable synthesis method capable of optimally selecting ...

Abstract: In this work, a new approach for motion planning of kinematically redundant parallel manipulators is proposed and compared with a method previously proposed by the authors called point-to-point ...

Abstract: In this work, a method is presented to geometrically determine the dexterous workspace boundary of kinematically redundant n-PR RR (n-PR RR indicates that the manipulator consists of n serial ...

Abstract: Parallel manipulators feature relatively high payload and accuracy capabilities compared to their serial counterparts. However, they suffer from small workspace and low maneuverability. Kinematic ...