Abstract: This paper deals with the sensitivity analysis of 3-RP R planar parallel manipulators (PPMs). First, the sensitivity coefficients of the pose of the manipulator moving platform to variations in ...

Abstract: This paper provides a new robust design method to dimension a mechanism and to synthesize its dimensional tolerances. The general issue is to find a robust mechanism for a given task, and ...

Abstract: This paper deals with the error modeling and analysis of a 3-P PR planar parallel manipulator with joint clearances. The kinematics and the Cartesian workspace of the manipulator are analyzed. ...

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: This paper deals with the singularity analysis of parallel manipulators with identical limb structures performing Schönflies motions, namely, three independent translations and one rotation ...

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 ...