this work intends to deal with the optimal kinematic synthesis problem of tricept parallel manipulator. observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. the effectiveness of a workspace is characterized by the dexterity of the manip...

The energy efficiency of a robotic manipulator is important, particularly when that manipulator is used in conjunction with a mobile robot with limited battery life. In this paper the energy efficiency (in terms of the electrical energy usage) of a spatial three DOF parallel manipulator is compared to a serial manipulator with the same drive motors and a similar workspace. The effects of endeff...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

CaPaMan (Cassino Parallel Manipulator) is a threedegree of freedom parallel mechanism that has been designed and built at Laboratory of Robotics and Mechatronics in Cassino. In this paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It will be shown that a formulation can ...

In this paper, the kinematic analysis for a 6 degree-of-freedom parallel manipulator with 3-PPSP type serial subchains is performed and its kinematic characteristics are investigated via isotropic index of the first-order kinematic influence matrix. Also, dynamic analysis of the manipulator is peiformed and its dynamic characteristics is examined via the isotropic characteristics of the output ...

............................................................................................................................. iii Acknowledgements............................................................................................................ iv List of Figures and Tables.................................................................................................. ix

We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions.

In this paper, 3-PPR planar parallel manipulators with ∆or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex qua...

Twice (Tilting device with WIde Capacity) a new amplification device able to double the tilting angle of a parallel mechanism is presented. A singularity analysis is carried out: it proves that Twice can give a huge tilting angle to Parallel Kinematic Machines (PKM). Finally, practical implementation features are discussed.

Shaking forces and shaking moments in high speed parallel manipulators are a significant cause of base vibrations. These vibrations can be eliminated by designing the manipulator to be shaking-force balanced and shaking-moment balanced. In this article an approach for the design and for the evaluation of high speed dynamically balanced parallel manipulators is presented and applied for a compar...