Abstract The R-Min robot is an intrinsically safe parallel manipulator dedicated to pick-and-place operations. proposed architecture based on a five-bar mechanism, with additional passive joints in order obtain planar seven-bar mechanism two degrees of underactuation, allowing the reconfigure case collision. A preload bar added between base and end-effector constrain degrees-of-freedom. This ar...

Path planning is one of the hotspots in research automotive engineering. Aiming at issue robot path with goal finding a collision-free optimal motion an environment barriers, this study proposes adaptive parallel arithmetic optimization algorithm (APAOA) novel communication strategy. Comparisons other popular algorithms on 18 benchmark functions are committed. Experimental results show that pro...

This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus...

In the early 1980s, Reymond Clavel invented the Delta robot at the École polytechnique fédérale de Lausanne. The initial objective was the development of an industrial robot dedicated to high-speed handling tasks of very light objects. Nowadays, the Delta robot is one of the best-known and most widely spread parallel robots. Besides various different designs of the original architecture, e.g. D...