Abstract In this work, a planar cable parallel robot (CPR) driven by four cable-and-pulley differentials is proposed and analyzed. A new differential designed adding an extra pulley to eliminate the modeling inaccuracies due radius obviate need of solving complex model which considers kinematics. The design parameters CPR are determined through multi-objective optimal for largest total orientat...

The handle design of telemanipulation master devices has not been extensively studied so far. However, the device is an integral part robotic system through which user interacts with system. Previous work showed that size and shape functional rotational workspace human-robot its usability are influenced by handle. Still, in certain situations, e.g., due to preference, a specific grasp type migh...

ABSTRACT This paper deals with the sensitivity analysis of 3-RPR planar parallel manipulators (PPMs). First, the sensitivity coefficients of the pose of the manipulator moving platform to variations in the geometric parameters and in the actuated variables are expressed algebraically. Moreover, two aggregate sensitivity indices are determined, one related to the orientation of the manipulator m...

A study of the kinematic characteristics for the five degree-of-freedom (DOF) spatial parallel micromanipulator is presented. The objective of this work is to introduce for the first time a structural and geometrical model of a novel five degree-of-freedom spatial parallel micromanipulator, the analysis of the effective and useful workspace of the micromechanism, present the obtained analytical...

This paper presents a design and analysis approach for micropositioning stage based on 3-RPR parallel kinematic linkage. The dimensions of the stage are first obtained and static, dynamic characteristics of the stage are predicted. The objective here is to maximize the workspace (for ranges of both position and orientation) and minimize the singularities inherent in the system. After arriving t...

In this paper we consider a classical Gough platform with extensible legs whose platform is submitted to a given load. This load induces forces in the linear actuators of the legs, these forces being dependent upon the posture of the platform, and we want to determine the extremal values of the articular forces when the platform is translating in a given 3D workspace (the orientation of the pla...

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The main interest of the orthoglide is that it takes benefit from the advantages of the popular PPP serial machines (re...

When using web services to perform complex data manipulations, users and administrators need control over how their changes are managed and seen by other clients of the service. This includes support for undo of changes, batch publishing of many changes, ‘what if’ analysis, the collaboration of several people in making and approving a complex change, workspace based access control, and the audi...

Optical tracking systems (OTS) can provide high position accuracy over a large workspace. However, the orientation from OTS is related to distance between markers, which contains errors when small or line-of-sight problems occur. The estimation with gyroscope complementary OTS-based orientation. In this article, an error-state Kalman filter (ESKF) proposed fuse them. Two experiments were perfor...

Striving for greater accuracy, some machine tool manufacturers are developing parallel structures for the next generation machine tool. Therefore, tools are needed to analyze the effect error sources have on this type of structure. A model of a Stewart Platform based machine tool is developed that provides the framework for inclusion of all relevant error sources. An error analysis is presented...