Although the current 3-PRS parallel manipulators have different methods on the arrangement of actuators, they may be considered as the same kind of mechanism since they can be treated with the same kinematic algorithm. A 3-PRS parallel manipulator with adjustable layout angle of actuators has been proposed in this paper. The key issues of how the kinematic characteristics in terms of workspace ...

Parallel manipulators are robotic devices that differ from the more traditional serial robotic manipulators by their kinematic structure. Parallel manipulators are composed of multiple closed kinematic loops. Typically, these kinematic loops are formed by two or more kinematic chains that connect a moving platform to a base, where one joint in the chain is actuated and the other joints are pass...

This thesis deals with the kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators. The inverse kinematics of each mechanism is first computed and a nengeneral algorithm is used to locate the boundaries of the workspace of the mechanism. Two approaches. narnely. the algebraic formulation and the vector formulati...

Closed-form forward/reverse position solutions for a 6-degree-offreedom (DoF) parallel mechanism that has some type of nonsymmetric geometry are derived in this study. Particularly, the derived forward-position analysis is applicable to the mechanisms in which three passive joints are constrained to move parallel to the moving plate. Its kinematic and dynamic characteristics are investigated vi...

Aiming at the hand rehabilitation of stroke patients, a wearable hand exoskeleton with circuitous joint is proposed. The circuitous joint adopts the symmetric pinion and rack mechanism (SPRM) with the parallel mechanism. The exoskeleton finger is a serial mechanism composed of three closed-chain SPRM joints in series. The kinematic equations of the open chain of the finger and the closed chains...

The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical sense of such properties is difficult to explain to students. The aim of this article is to use haptic feedback to render to the user the signification of diff...

This paper first recalls the concept of H4 parallel mechanism; the kinematic models necessary for real-time control are derived. A simple and efficient control system based on a combination of Windows NT and RTX is used to demonstrate its performances. Results prove the efficiency of H4 serving as a high-speed pickand-place robot.

This article presents a direct kinematic analysis of 3-RS parallel mechanisms. A 3-RS parallel mechanism consists of a ®xed base and a moving platform connected by three serial chains, with each serial chain containing one passive revolute joint and one passive spherical joint. A variety of 3-RS mechanisms have been proposed in the literature, to overcome the disadvantages of small workspace ch...