A kinematic mapping of planar displacements is used to derive generalized constraint equations having the form of ruled quadric surfaces in the image space. The forward kinematic problem for all three legged, three degree of freedom planar parallel manipulators thus reduces to determining the points of intersection of three of these constraint surfaces, one corresponding to each leg. The invers...

The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval analysis based method. The parallel mechanisms can admit several solutions to the inverses and the direct kinematic models. These singular configurations divide th...

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions which can lead to arbitrary motion. The determination of unstable singular configurations in parallel mechanisms is not trivial, and is usually atte...

This work demonstrates the synthesis and design of a 2-DOF (Degrees Of Freedom) parallel haptic device intended for use in virtual simulation of medical procedures, e.g., epidural injection. The process involved choosing a right kinematic architecture of the mechanism, calculation of the end-effector forces, CAD modeling, stress analysis and a rapid prototyping of the device. We chose a pantogr...

In this paper, a simple and convenient method – Recursive Matrix method – is proposed for kinematic and dynamic analysis of all types of complex manipulators. After addressing the principle of the method, an example – a 3-DOF parallel manipulator with prismatic actuators – is demonstrated for the efficiency of the method in solving kinematic and dynamic problems of complex manipulators. With th...

this paper presents the results of a recent project of ikco’s research center to modify paykan 1600’s rear suspension mechanism with the purpose of improving comfort, stability and handling qualities. the car was originally equipped with a solid rear axle with leaf springs. by replacing the original mechanism with a three-link mechanism with panhard bar and coil springs, the ride comfort and ha...

Active deformation in Alborz range is due to N-S convergence between Arabia and Eurasia. This paper provides geomorphic traces of regional deformation in NW Iran in order to characterize active faulting on major faults. Soltanieh and North Zanjan fault systems are involved in convergence boundary extent between South Caspian Basin and Central Iran. Soltanieh and North Zanjan faults are major re...

Some iterative matrix relations for the geometric, kinematic and dynamic analysis of a Delta parallel robot are established in this paper. The prototype of this manipulator is a three degree of freedom spatial mechanism, which consists of a system of parallel chains. Supposing that the position and the translation motion of the platform are known, an inverse dynamic problem is solved using the ...

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same pres...