Various 3-UPU architectures feature two rigid bodies connected to one another through
three kinematic chains (limbs) of universal–prismatic–universal (UPU) type. They were first …

In this paper, a symmetric 3-UPU (U and P represent universal and prismatic joints,
individually) parallel mechanism and its variant mechanism under different geometric and …

Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely
on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a …

This paper proposes a systematic algorithm based on the concept of interval analysis to
obtain the maximal singularity-free circle or sphere within the workspace of parallel …

A study of the kinematic characteristics of a 3UPU_UP coupling parallel platform that has
three-degree-of-freedom (3-DOF). In this article, a novel 3UPU_UP parallel platform is …

As an underactuated mechanism, the accuracy analysis of the spherical 3 degrees of
freedom (3-DOF) parallel underactuated robot wrist becomes an important issue. However …

A feasibility study on the mechanical design and walking operation of a Cassino biped
locomotor is presented in this paper. The biped locomotor consists of two identical 3 …

In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod
manipulator and its operation performance is investigated through lab experimental tests. In …

The paper deals with the synthesis, development and implementation of a neuro-surgical
registration unit for neuro-surgical procedures. The neurosurgical registration unit consists of …

In this paper, a 5 degree-of-freedom parallel brain surgery robot is introduced. The proposed
brain surgery robot consists of a two rotational degree-of-freedom end effector and a three …