The need of a device providing two-translational and two-rotational movements led us to
design a 3UPS–1RPU parallel manipulator. The manipulator consisted of a mobile platform …

It is commonly claimed in the literature that if the dynamic equations are made consistent at
a type II singular configuration, then a parallel robot can pass through this configuration …

Singularity analysis of parallel manipulators is an active research field in robotics. The
present article derives for the first time in the literature a condition under which a five-bar …

In this manuscript, an affordable alternative to control parallel kinematic machines is
proposed based in a high-authority/low-authority control strategy. The high-authority loop is …

Geometric uncertainties may jeopardize the performance of parallel manipulators, especially
during motion planning. Recent research demonstrated that, during motion planning and …

Inspired by the case that a running parallelogram mechanism can traverse the singular
configuration without losing motion stability, parallel manipulator's (PM) motion stability at …

This paper studies the effects of payload inertial parameters on its consistent locations for a
planar three-degree-of-freedom parallel manipulator in the presence of singularities. It is …

Parallel manipulators are practically confined to a dramatically small subregion of their
workspace due to type II singularities. Around such configurations, the actuator forces tend …

Due to the Jacobian matrix rank reduction near singularities, applying numerical methods to
study PMs' motion stability at singularities is quite difficult. As a result, there is a scarcity of …

以3-RPR 并联机构为例, 研究了动平台动力学参数对并联机构奇异构型运动稳定性影响.
采用Lagrange 方法, 建立该机构显含自身动力学参数的无乘子二次项非耦合质点系动力学解析 …