Compliant mechanisms are widely used for instrumentation and measuring devices their precision high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating inverse direct kinematics, dynamic problem dynamics actuators control. The kinematic solved, assuming pseudo-rigid deflection in revolute spherical joints. using Principle Energy Equ...

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...

The architecture optimization of a newly designed flexure XY parallel micro-manipulator with both input and output decoupling is conducted in this paper. In view of the compliance of flexure hinges, the input stiffness model of the motion stage are established based upon the matrix method, and then the dynamic equation is derived through the Lagrangian approach, which is verified by the modal a...

The paper aims to describe kinematic hybrid position/force control for a three-degree-of-freedom (3-DOF) in-parallel actuated manipulator, and its application to peg-inhole task about 10μm clearance. The control system consists of a low-level position servo driven by force feedback in base coordinates. The computation required for the control is only inverse kinematics, which is very simple for...

A new robust nonlinear controller is presented and applied to a planar 2-DOF parallel manipulator with redundant actuation. The robust nonlinear controller is designed by combining the nonlinear PD (NPD) control with the robust dynamics compensation. The NPD control is used to eliminate the trajectory disturbances, unmodeled dynamics and nonlinear friction, and the robust control is used to res...

Dynamic models play an important role in parallel manipulators simulation and control. Mainly in the later case, the efficiency of the involved computations is of paramount importance, because manipulator real-time control is usually necessary (Zhao & Gao, 2009). The dynamic model of a parallel manipulator operating in free space can be represented in Cartesian coordinates by a system of nonlin...

Singularity is an inherent characteristic of a closed-chain manipulator. This paper presents an approach to singularity analysis of the planar 3-RRR parallel manipulator. On the basis of screw theory, the motion/force transmission analysis of the manipulator is first achieved. The singularity is classified into three types: constraint singularity, input transmission singularity, and output tran...

The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and angular acceleration between the actuators and end-effector are thus determined. Moreover, the dynamic model of the 2-DOF SPM is established by using...

Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematicmodelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following ...