Parallel mechanisms have been studied during the last two decades, due to the fact that they present some potential advantages in a comparison with serial structures. This work presents the kinematic analysis of a novel 3-dof asymmetric parallel mechanism, purposely conceived for milling applications. In a comparison with the previous proposed concepts, this type of kinematic structure shows so...

the need for simulation of human foot mechanism has made researchers and engineers move towards different patterns to describe this movement. in this regard, optimal solutions such as energy consumption, accuracy, etc. are of utmost importance. in this paper, efforts have been made to present a new solution by designing a fully two-dimensional six-bar mechanism with one degree of freedom so tha...

Since a parallel structure is a closed kinematics chain, all legs are connected from the origin of the tool point by a parallel connection. This connection allows a higher precision and a higher velocity. Parallel kinematic manipulators have better performance compared to serial kinematic manipulators in terms of a high degree of accuracy, high speeds or accelerations and high stiffness. Theref...

The authors have been developing a pipe bender which fabricates pipes of three-dimensional complex shapes from straight pipes based on the penetration bending method. This bender is composed of a movable die supported by a drive mechanism, a fixed die and a pipe feeder. A 3-RPSR parallel mechanism was employed as the movable-die drive mechanism, and its kinematic design was figured out under th...

Kinematic synthesis of a trailing six-member mechanism has been carried out to achieve five precision points of an automotive steering mechanism. The inner wheel can be rotated up to forty five degrees with fair accuracy. Results show that the divergent end behavior of Ackermann Steering Mechanism has been overcome by the present mechanism. The work is similar to earlier work by the present ...

In this paper, different approaches to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator are presented. On the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed methods are using neural networks identification ...

This paper presents the idea of constructing reconfigurable kinematic limbs by integrating kinematotropic linkages as subchains. Three kinematotropic chains characterized by change in pair connectivities without change of the number of degrees of freedom are concerned and the branch transitions are analyzed. Reconfigurable kinematic limb that provides a constraint couple in one configuration an...