This paper presents a fully decoupled parallel 2-DOF spherical mechanism, named HEMISPHERE. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Then, a practical architecture is presented, which employs only two kinds of 1-DOF kinematic pairs: revolute joint and prismatic pair. Next, following the discussion about the limitation from the friction circle of the rev...

We propose a new two -degree of freedom para llel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performance and to achieve static balance. We use the pantograph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularit y. T...

In this paper, a new pose selection criterion for the kinematic calibration of parallel mechanisms is proposed. It enables one to take into account the measurement noise amplification that may occur for parallel mechanisms, as well as the variation of amplitude and anisotropy of the measuring device accuracy. This new criterion is applied to vision-based calibration of an Orthoglide mechanism, ...

The Stewart platform is one of 6-DOF (6 degrees of freedom) parallel mechanism. A parallel mechanism is a mechanism to connect six actuators in parallel between the base and the stage. It is necessary to calibrate the kinematic parameters that compose the mechanism in order to use the parallel mechanism as the coordinate measuring machine. Additionally, it is necessary to estimate the uncertain...

Machines based on parallel kinematics typically utilize connector geometry to establish the kinematic state of the moving platform. Most active applications require the connectors to be both prime movers and sensors. In some applications, the connectors are passive, with a metrology function of determining moving platform position and orientation. A methodology is developed that generates optim...

Several industrial robotic applications that require high speed or stiffness-to-inertia ratios use parallel kinematic robots. In the cases where critical point of application is speed, compliance main mechanical transmissions placed between actuators and structure can be significantly higher than itself. This paper deals with this kind system, overall performance depends on maximum dynamic beha...

The efficiency and accuracy for parallel robot play a significant role in the industrial production process. In order to further improve motion performance of robot, this paper focuses on study mechanism design, dynamic modeling error analysis cable-linkage serial-parallel palletizing (CSPR). Firstly, CSPR is designed as series-parallel hybrid driven by flexible cables, which can effectively re...