Parallel kinematic mechanisms (PKM) have received particular attention due to their higher
stiffness, increased payload capacity, and agility, when compared to their serial …

This paper presents a novel truss-shaped deployable grasping manipulator (T-SDGM)
consisting of a series of metamorphic mechanism modules (MMMs) with mobility bifurcation …

The statics and stiffness model of serial-parallel manipulators (S-PMs) formed by k parallel
manipulators (PMs) connected in series is established in this paper. The S-PMs can provide …

This paper presents a novel kinematic approach for controlling the end-effector of a
continuum robot for in-situ repair/inspection in restricted and hazardous environments …

The first part of this book is a briefing on the matrix mechanics of the rigid body, from which
are developed the following five chapters: Matrix kinematics of the rigid body, Matrix …

Capturing non-cooperative targets in space is a cutting-edge technology in the aerospace
field. In this study, a novel n (3RRlS) metamorphic serial-parallel manipulator (MSPM) with …

Matrix relations for kinematics and dynamics analysis of a spatial two-module Stewart-based
hybrid parallel robot are established in this paper. Knowing the relative motions of two …

This contribution addresses forward kinematic solution of modular hybrid manipulator which
includes two similar Stewart mechanisms in serial form, known as 2-(6UPS) manipulator …

Solving the reachable workspaces of spatial hyper-redundant manipulators (SHRMs)
formed by serially connected parallel manipulators is an important and challenging work …

The unified inverse dynamics model of serial–parallel manipulators (S–PMs) formed by two
parallel manipulators (PMs) connected in series is systematically established based on the …