A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offset...

This paper addresses the synthesis of a novel reactionless spatial 6-DOF parallel mechanism using four-bar linkages without any counter-rotations. The mechanism is first described and its kinematics is discussed. A numerical example of the reactionless 6-DOF mechanism is given in this paper and, with the help of the dynamic simulation software ADAMS, it is shown that the mechanism is reactionle...

In this paper, a kinematically redundant parallel haptic device with large workspace is presented. The haptic device has a similar kinematic structure to the well‐ known Delta manipulator. However, it has a special arrangement of actuators and one redundant actuator added to the third leg. The proposed haptic device has essentially 4‐DOF, however, only three tra...

In this paper, to effectively solve the joint motion planning of a nine-DOF redundant hybrid boarding system in process ocean wave active compensation, we present multi-task (MTMP) method for system. First, mechanism is disassembled into six-DOF parallel and three-DOF serial kinematic analysis separately obtain Jacobian matrix task space. Then, according configuration characteristics avoid defe...

In the analysis and calculation of degree freedom (DOF) mechanisms, it is generally a complicated problem to judge virtual constraint correctly. Under what conditions do constraints exist, how many are there? Understanding these problems can contribute effectively tackling difficulty calculating DOF. With planar mechanisms as research object, among various components simplified into point const...

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric a...

This paper analyzes the singularities of a three degree of freedom (DOF) spatial parallel manipulators utilizing line geometry and linear complex approximation. First, the 6 · 6 matrix, mapping external wrenches acting on the moving platform to internal forces/moments at the manipulator s joints, is derived as a set of six governing lines. By analyzing the dependencies of these lines, all singu...

This work proposes direction-dependent Jacobian indices that allow tackling the performance evaluation and dimensional synthesis of parallel manipulators. These indices characterize the kinetostatic capabilities of a manipulator along and about each direction of the Cartesian space and are more likely to help the designer to achieve an assessment of different geometries without having to resort...