A review of cuspidal serial and parallel manipulators
Cuspidal robots can move from one inverse or direct kinematic solution to another without
ever passing through a singularity. These robots have remained unknown because almost …
ever passing through a singularity. These robots have remained unknown because almost …
CAD-based unified graphical methodology for solving the main problems related to geometric and kinematic analysis of planar parallel robotic manipulators
KA Arrouk, BC Bouzgarrou, G Gogu - Robotics and Computer-Integrated …, 2016 - Elsevier
CAD environments provide powerful tools for graphical programming and geometric feature
handling. This paper explores this potential for robotics applications by presenting a set of …
handling. This paper explores this potential for robotics applications by presenting a set of …
Path planning and assembly mode-changes of 6-DOF Stewart-Gough-type parallel manipulators
Abstract The Stewart-Gough platform (SGP) is a six degree-of-freedom (DOF) parallel
manipulator whose reachable workspace is complex due to its closed-loop configuration …
manipulator whose reachable workspace is complex due to its closed-loop configuration …
Performing nonsingular transitions between assembly modes in analytic parallel manipulators by enclosing quadruple solutions
A Peidró, J María Marín, A Gil… - Journal of …, 2015 - asmedigitalcollection.asme.org
This paper analyzes the multiplicity of the solutions to forward kinematics of two classes of
analytic robots: 2R P R-PR robots with a passive leg and 3-RPR robots with nonsimilar flat …
analytic robots: 2R P R-PR robots with a passive leg and 3-RPR robots with nonsimilar flat …
Workspace and joint space analysis of the 3-RPS parallel robot
The Accurate calculation of the workspace and joint space for 3 RPS parallel robotic
manipulator is a highly addressed research work across the world. Researchers have …
manipulator is a highly addressed research work across the world. Researchers have …
Computing the branches, singularity trace, and critical points of single degree-of-freedom, closed-loop linkages
This paper considers single degree-of-freedom (DOF), closed-loop linkages with a
designated input angle and one design parameter. For a fixed value of the design …
designated input angle and one design parameter. For a fixed value of the design …
Design of planar multi-degree-of-freedom morphing mechanisms
LW Funke, JP Schmiedeler… - Journal of …, 2015 - asmedigitalcollection.asme.org
This paper seeks to advance the design of planar multiloop shape-changing mechanisms
used in a variety of applications, such as morphing extrusion dies and airfoils. The presence …
used in a variety of applications, such as morphing extrusion dies and airfoils. The presence …
A singularity-free path planner for closed-chain manipulators
This paper provides an algorithm for computing singularity-free paths on non-redundant
closed-chain manipulators. Given two non-singular configurations of the manipulator, the …
closed-chain manipulators. Given two non-singular configurations of the manipulator, the …
Influence of design parameters on the singularities and workspace of a 3-RPS parallel robot
This paper presents variations in the workspace, singularities, and joint space with respect
to design parameter k, which is the ratio of the dimensions of the mobile platform to the …
to design parameter k, which is the ratio of the dimensions of the mobile platform to the …
Kinematic analysis of a class of analytic planar 3-RPR parallel manipulators
A class of analytic planar 3-RPR manipulators is analyzed in this paper. These manipulators
have congruent base and moving platforms and the moving platform is rotated of 180 deg …
have congruent base and moving platforms and the moving platform is rotated of 180 deg …