In the industrial halls it is often necessary to handle large objects, with a and table, which have be transported not over long distances but moved from one place another, raised, then lowered various levels, left or right. Such repeated manipulations of heavy dangerous objects can done only help manipulator, crane, specially designed trolley, complicated robot simple manipulator as case for p...

In this paper, a novel spatial six-degree-of freedom parallel manipulator actuated by three base-mounted partial spherical actuators is studied. This new parallel manipulator consists of a base platform and a moving platform, which are connected by three legs. Each leg of the manipulator is composed of a spherical joint, prismatic joint and universal joint. The base-mounted partial spherical ac...

The ROBOTLAB is a MATLAB based software package developed for robot simulation and analysis. MATLAB users can analyze and simulate any arbitrary serial link manipulator using ROBOTLAB by specifying robot kinematics, geometric and dynamic parameters. The package incorporates an extensive library of functions of transforrnations, kinematics, dynamics, control, trajectory and 3D animation of robot...

This letter presents a new numerical method to solve the forward kinematics (FK) of parallel manipulator with three-limb spherical-prismatic-revolute (3SPR) structure. Unlike existing approaches that require manipulator’s Jacobian matrix and its inverse at each iteration, proposed algorithm requires much less complex computations estimate FK parameters. A cost function is introduced measures di...

CINEGEN is a Virtual Reality based system for the rapid design, prototyping and simulation of robot manipula-tors. With CINEGEN, users provide a text description of a manipulator and a numerical algorithm automatically computes the inverse kinematics. This algorithm is capable of handling serial, parallel and hybrid manipulator structures. Using CINEGEN, the user can directly interact with a gr...

This article presents a model of novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional manipulator, proposed design includes an extensible platform, which provides kinematic redundancy. constructive feature is used for grasping. The discusses inverse and forward kinematics algorithm analytical relations between platform coordinates driven (co...