This paper presents a new methodology of using tetrahedron configurations to determine the forward kinematics of 6-dof parallel manipulators. The approach is introduced in the form of the Tetrahedron Proposition and Theorem using the special characteristics of tetrahedral geometry which are then applied to obtaining the kinematic solutions of two 6-dof parallel manipulators such as the Hunt-Pri...

This paper presents a novel decoupled parallel 2-DOF spherical mechanism. First, the design idea is introduced based on a general 2-DOF spherical mechanism. Next, following the discussions of some practical types of flat pairs, the new mechanism is given. Besides, the new mechanism uses a planar parallelogram to replace the prismatic pair to achieve the simple kinematics of one-to-one input-out...

this paper presents the kinematic analysis and the development of a 4-degree-of-freedom serial-parallel mechanism for large commercial vehicle driving simulators. the degrees of freedom are selected according to the target maneuvers and the structure of human motion perception organs. several kinematic properties of parallel part of the mechanism under study are investigated, including the inve...

Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback ...

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 investigates the constant-orientation workspace of five-degree-of-freedom parallel mechanisms generating the three translations and two independent rotations and comprising five identical limbs of the PRUR type. The general mechanism was proposed recently from the type synthesis performed for 5-DOF parallel mechanisms with identical limb structures. In this study, the emphasis is pla...