This paper presents workspace and kinematic analysis of a parallel machine based on the Lambda mechanism. The considered has six degrees freedom (DOF), achievable with actuated translation joints. includes definition every active part machine, as well or passive joint used to connect parts. mathematical model is created for better understanding machine's operation. proposed inverse equations, w...

Redundantly actuated Parallel Kinematic Machines (PKMs) offer a number of advantages compared to classical non-redundant PKMs. Particularly, they show a better stiffness thanks to singularity avoidance and they have an improved repeatability due to a better behavior against backlashes. The main problem with the calibration of these machines is that the redundancy leads to some mechanical strain...

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this par...

Planar parallel controllable mechanism, which is a combination of two types of motor and mechanism, has better flexible transmission behavior. In this paper, the kinematics analysis for a planar parallel controllable fivebar mechanism is introduced. In order to improve kinematic performance of the controllable mechanism, an optimization design for the mechanism is performed with reference to ki...

In this paper, different approaches are presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is known, that 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 mainly numeri...

In this paper, a quasi-closed solution method is presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is shown, that on the contrary to series manipulators, the forward kinematic map of the parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed method uses a comb...

This paper deals with the dynamic modeling and design optimization of a three Degree-of-Freedom spherical parallel manipulator. Using the method of Lagrange multipliers, the equation of motion is derived by considering its motion characteristics, namely, all the components rotating about the center of rotation. Using the derived dynamic model, a multiobjective optimization problem is formulated...

This paper presents a planar parallel mechanism which can achieve very rapid motion due to the low inertia of its moving parts and the use of multiple simultaneous specification (MSS) control. The proposed parallel manipulator was designed based on a Prismatic-RevoluteRevolute kinematic structure. The proximal prismatic joints were realized using a linear slider with a ball screw mechanism. All...

a new mechanical cultivator was proposed for mechanical weeding in part one. the precise point method was used to geometric design of this new cultivator. the aim of this research is selecting the suitable mechanism of the studied mechanisms in part one. the velocity and acceleration of links (kinematic) is the base of dynamic analysis of the systems. the variation of velocity, acceleration and...