Watermarking is identified as a major technology to achieve copyright protection and
multimedia security. Therefore, recent studies in literature include some evident approaches …

The forward kinematic problem (FKP) of the 3‐RRS parallel manipulator is solved by means
of the Newton‐homotopy continuation method. The closure equations are formulated in the …

This paper presents a unified geometric modeling and solution procedure for direct
kinematic analysis of a class of parallel mechanisms based on conformal geometric algebra …

In this paper, we study the kinematic effects of number of legs in 6-DOF UPS parallel
manipulators. A group of 3-, 4-, and 6-legged mechanisms are evaluated in terms of the …

This work is devoted to simplifying the formulation and solution of the closure equations
associated with the forward kinematic problem (FKP) of the 5-RPUR parallel manipulator, a …

In this paper, a kind of hybrid kinematics chain with variable constraints is constructed by
using a 6R spatial bifurcated chain and 4-DOF serial limbs, by using them, a 3-DOF …

Forward kinematics analysis of parallel manipulators requires solving highly complicated
nonlinear equations, which deriving a closed-form solution is often a real challenge. Being …

This work deals with the inverse–forward kinematic analysis of a symmetric parallel
manipulator equipped with a rotary actuator generator of three independent translations and …

In this article, some relevant kinematic properties of a spherical parallel manipulator with
orientational actuators and without intersecting revolute axes are investigated mainly by …

This study addresses the kinematics of a six-degrees-of-freedom parallel manipulator whose
moving platform is a regular triangular prism. The moving and fixed platforms are connected …