Abstract: A novel symmetric parallel mechanism 6RPS with multi-redundant actuations is proposed in this paper, which possesses two rotational and one translational degrees-of-freedom. Motion and constraint screw systems of this ...

Abstract: This paper focuses on the singularity of actuation coordination of redundantly actuated parallel manipulators and proposes a series of novel indices to evaluate the actuation coordination. The singularity is analyzed based ...

Abstract: Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing the ...

Abstract: In the deployable mechanism for a conventional truss antenna, the nodes cannot be adjusted to be uniform in attitude. To solve this problem, a method of adding constraint chains is proposed based on the reciprocal screw ...