Parallel manipulator robots have complex kinematics and present singular positions within their workspace. For these reasons, in most software simulating parallel robots, each kinematic model should be given in advance by users or programmers. In this paper we present a new tool used to design and to simulate parallel manipulator robots. Explicit kinematic equations are generated automatically ...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

This paper deals with the kinematic synthesis problem of a 3-RRR spherical parallel manipulator, based on the evaluation criteria of the kinematic, kinetostatic and dynamic performances of the manipulator. A multiobjective optimization problem is formulated to optimize the structural and geometric parameters of the spherical parallel manipulator. The proposed approach is illustrated with the op...

This paper studies the kinematic geometry of general 3-RPR planar parallel robots with actuated base joints. These robots, while largely overlooked, have simple direct kinematics and large singularity-free workspace. Furthermore, their kinematic geometry is the same as that of a newly developed parallel robot with SCARA-type motions. Starting from the direct and inverse kinematic model, the exp...

In the applications of parallel robots, kinematic calibration is required to eliminate the errors resulting from the manufacturing and assembly. In this paper, a new method for calibrating a parallel robot is proposed. An error model for kinematic calibration is constructed using differential geometry method. All leg length information and pose error are obtained based on measurement results co...

NW-tending faults in Central Iran are expected to represent dominant dextral components due to their orientation with respect to the northward motion of the Arabian Plate with respect to Eurasia. However, previously published works, as well as the focal mechanism solution of the area's earthquakes, indicate evidence of sinistral kinematic along the major faults in Central Iran. Here we present ...

One of the most important approaches in the scientific research concerning the increase of the positioning accuracy is the use of parallel structures. Parallel kinematic structures have a series of advantages that makes them adequate for the mini-robots construction: actuator positioning on the seating, miniaturization, stiffness, positioning precision and repeatability, actuators separation fr...