In this article, the mechanical design and analysis of a novel three-legged, agile robot with
passively compliant 4-degrees-of-freedom legs, comprising a hybrid topology of serial …

The reliable calculation of the Direct Kinematic Problem (DKP) is one of the main challenges
for the implementation of Real-Time (RT) controllers in Parallel Robots. The DKP estimates …

Abstract A new Spherical Decoupled Mechanism is presented in this paper. It can be
consider as a new 5-bar spherical linkage or as a parallel mechanism. Indeed, a platform …

A generic structure for a planar remote center of motion (RCM) mechanism with dual scissor-
like mechanisms is presented for the first time. Its mobility is analyzed using screw theory …

Compared with series mechanisms, a parallel mechanism has the merits of high stiffness,
fast response, and centralised layout of electric cylinders, which is more suitable for the …

A new non-symmetric 5R-SPM is introduced and a geometrical approach is developed to
analyze its configurations and singularities. The proposed methodology determines the type …

Analysis of entropy generation in mixed convection flow over a vertically stretching sheet
has been carried out in the presence of variable thermal conductivity and energy dissipation …

This paper presents a linkage system designed to guide a natural ankle trajectory with the
corresponding foot orientation. A six-bar linkage was designed to coordinate the joint angles …

Kinematic accuracy is fundamental for the performance of multi-branched robots, which are
composed of multiple branches that collaborate to manipulate. Among those various factors …

In this article, the solution to the inverse and forward kinematics of a novel three-legged,
serial-parallel, compliant robot are presented. The design of the robot aims to combine …