Abstrac t -MIPS is a m i c r o r o b o t w i t h a p a r a l l e l m e c h a n i c a l a r c h i t e c t u r e h a v i n g t h r e e d e g r e e s o f f r e e d o m ( o n e t r a n s l a t i o n a n d t w o o r i e n t a t i o n s ) t h a t a l l o w f ine p o s i t i o n i n g o f a s u r g i c a l t o o l . T h e p u r p o s e o f M I P S is t o a c t as a n a c t i v e w r i s t a t t h e t ...

*Corr. Author’s Address: College of Mechanical and Electrical Engineering, China University of Mining and Technology, 221008, Xuzhou, China, [email protected] 719 Overall Structure Calibration of 3-UCR Parallel Manipulator Based on Quaternion Method Cheng, G. ‒ Gu, W. ‒ Yu, J. ‒ Tang, P. Gang Cheng* ‒ Wei Gu ‒ Jing-li Yu ‒ Ping Tang China University of Mining and Technology, College of Mechanical...

A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted man...

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth [1]) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage (Figures 2 & 3). The resulting architecture is hybrid i...

In order to analyse the maximum velocity of parallel maniprdators in operational space, a graphical method based on the analysis of the algebraic inequalities describing the constraints on the kinematics mode[ is presented. We consider a general 6 d. of parallel manipulator and assume that all articrdar velocities are bounded by the same limit. The method is then applied to the Conventional Ste...

This paper presents a new approach for the use of piezoelectric materials, PVDF and PZT, for vibration attenuation of a planar parallel manipulator. Since lightweight linkages of parallel manipulators deform under high acceleration/deceleration, such motion induced vibration would have to be damped quickly to reduce settling time of the platform position. An active damping controller is develop...

The workspace of a parallel manipulator is usually smaller than the size of the robot itself. It is important to derive new structures that enjoy the advantages of parallel manipulators and also have a large workspace. In this paper we present two configurations of similar structures RRRS and RRSR with rotating links. The RRRS structure has a relatively large workspace—larger than the size of t...

In this paper we consider a classical Gough platform with extensible legs whose platform is submitted to a given load. This load induces forces in the linear actuators of the legs, these forces being dependent upon the posture of the platform, and we want to determine the extremal values of the articular forces when the platform is translating in a given 3D workspace (the orientation of the pla...

Wire-driven parallel robot (WDPR) is a special class of parallel robot in which the rigid legs are replaced by wires, with potential advantages in terms of intrusivity and workspace. Although the study of WDPR seems to be a well-addressed subject, we will show that there are still numerous challenging open issues in this