Parallel robots are closed-loop mechanisms presenting very good performances in terms of
accuracy, velocity, rigidity and ability to manipulate large loads. They have been used in a …

As we all know, singularity is commonly encountered in parallel mechanisms. It is shown
that the behavior of singularity of parallel mechanisms could be more complicated than that …

A kinematic formulation for the parallel structured closed-loop multibody mechanical
systems, such as Stewart Platform and Hexapod machine tools, is presented in this paper …

In construction, motion control is primary for excavators to complete earth-moving tasks.
However, the position tracking performance is strongly affected by system nonlinearity …

Lower-limb exoskeletons, often used for assistance and rehabilitation, operate using a
variety of control strategies, such as phase-based gait guidance controllers. Phase is a …

In order to increase the reachable workspace of parallel robots, a promising solution
consists of the definition of optimal trajectories that ensure the non-degeneracy of the …

In this paper, we review the structure of a reduced model for closed-chain mechanical
systems originally proposed by Ghorbel, Chetelat and Longchamp (1994), and highlight the …

Traditionally, mechanisms are driven by constant velocity motors. A real-time controllable
(RTC) mechanism refers to the mechanism driven by servomotors, which can be planned …

Robot trajectory tracking has been the core functioning unit in the modern industrial
environment wherein the accuracy in the motion control of robotic manipulators is the main …

A comprehensive dynamics analysis of a four degrees-of-freedom Schönflies parallel
manipulator with parallelogram joints is presented. First, the manipulator kinematics and …