This paper presents a novel reconfigurable parallel mechanism, which can serve as a
machine tool. The proposed parallel mechanism can change its structure parameters by …

The optimization of parallel kinematic manipulators (PKM) involve several constraints that
are difficult to formalize, thus making optimal synthesis problem highly challenging. The …

This paper proposes a control scheme that allows parallel manipulators to overcome a
major inherent challenge, namely, avoiding singularities occurring inside their workspaces …

Two optimal design methods are proposed for the dimensional design of parallel
manipulators, considering their dynamic performance over the desired ranges of motions …

This paper presents the computation of the safe working zone (SWZ) of a parallel
manipulator having three degrees of freedom. The SWZ is defined as a continuous subset of …

The 3-R RS parallel manipulator presented in this study comprises of parallel revolute joint
axes in each leg. The manipulator is composed of a base and a moving platform which are …

This paper presents the computation of singularity-free regions in the position and
orientation workspaces of Stewart platform manipulators (SPMs). Notwithstanding several …

This paper presents a method to compute the largest sphere inside the position-workspace
of a semi-regular Stewart platform manipulator, that is free of gain-type singularities. The …

This paper presents an approach for the design of parallel manipulators, from the
perspective of optimal dynamic performance over a given safe working zone. It is shown that …

The focus of this thesis study is to model and control a parallel robot manipulator located in
Rasim Alizade Mechatronics Laboratory (Izmir Institute of Technology Mechanical …