Abstract: A systematic theory for topology synthesis of parallel manipulators considering basic requirements such as kinematics, dynamics, control, and actuation is built. The kernel part of the theory is ...

Abstract: The kinematics decoupling for parallel manipulators is studied in this paper. Based on the topological structure characteristics of parallel mechanisms, the internal relationship between kinematics ...

Abstract: Based on the position and orientation characteristic (POC) set and the POC equations for serial mechanisms and parallel mechanisms proposed by authors, this paper presents a novel general degree ...

Abstract: This paper presents the explicit mapping relations between topological structure and position and orientation characteristic (POC) of mechanism motion output. It deals with (1) the symbolic ...