This paper presents a direct and straightforward approach for deriving the kinetic equations
of the planar mechanisms comprising multiple kinematic closed loops. What distinguishes …

This paper presents a novel 3-DOF PKM module named the A3 head that can be employed
to form a 5-axis manufacturing cell for large structural component machining. The …

Here, a recursive technique based on the Gibbs–Appell (G–A) and the Newton's impact
formulas for dynamic modeling of multi-closed-loop mechanisms has been presented. Each …

This paper proposes a 7-DOF hybrid serial-parallel manipulator for capturing a non-
cooperative target in space and discusses its dynamics and control. The hybrid manipulator …

The development of a chopstick-like two-fingered micromanipulator based on a hybrid
mechanism is presented. The microhand consists of two 3-prismatic-revolute-spherical …

Performance evaluation is one of the most important issues in the field of parallel kinematic
manipulators (PKMs). As a very important class of PKMs, the redundant PKMs have been …

This paper presents a CGA-based approach to the inverse displacement of the S-PMs
composed of two PMs. Two novel S-PMs including (2-SPR+ RPS)+(2-RPS+ SPR) and (2 …

Based on screw theory, a novel improved inverse-kinematics approach for a type of six-DOF
serial robot,“Qianjiang I”, is proposed in this paper. The common kinematics model of the …

Although the serial-parallel manipulators (S-PMs) formed by the symmetric 3-RPS and 3-
SPR PMs have been widely studied, the terminal constraint and mobility criterion for this …

Mainly drawing on screw theory and linear algebra, this paper presents an approach to
determining the bases of three unknown twist and wrench subspaces of lower mobility serial …