iii Summary In last few years, the demand for micro motion devices increases in many industrial applications; especially fields of assembling micro machines, manipulating biological cells, and micro-surgical operation. As a consequence, there is an urgent need to develop dexterous micro-manipulators. However, the field of manipulating microscopic objects places hard requirements on the design p...

Industrial robots play a vital role in automation however only little effort are taken for the application of robots in machining work such as Grinding, Cutting, Milling, Drilling, Polishing etc. Robot parallel manipulators have high stiffness, rigidity and accuracy, which cannot be provided by conventional serial robot manipulators. The aim of this paper is to perform the modeling and the work...

In our previous work, we developed a compact 6-DOF haptic interface as a master device which achieved an effective manual teleoperation. The haptic interface contains a modified Delta parallel-link positioning mechanism. Parallel mechanisms are usually characterized by a high stiffness, which, however, is reduced by elastic deformations of both parts and bearings. Therefore, to design such a pa...

Closed-form forward/reverse position solutions for a 6-degree-offreedom (DoF) parallel mechanism that has some type of nonsymmetric geometry are derived in this study. Particularly, the derived forward-position analysis is applicable to the mechanisms in which three passive joints are constrained to move parallel to the moving plate. Its kinematic and dynamic characteristics are investigated vi...

This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three translational (3T) DOFs is used perform three-axis tasks. Three attachment pads connected passive spherical joints are attach the surface structure. Two rota...

Most articulated robots comprise multiple joints and links that control the position posture of end effector. The kinematic pair arrangement determines characteristics such as output force. link configurations can be classified serial parallel mechanisms. A typical mechanism is spherical (SPM), designed to ensure effector has only rotational degrees freedom. However, not been sufficiently exami...