The nonlinearity of the position equations of most parallel manipulators burdens the control and is a serious drawback for industrial applications. In this paper the authors have developed a 5 degrees of freedom parallel manipulator 3T2R whose position equations are explicit and partially decoupled. In order to get that, several platforms, partially actuated by limbs joined to the base, have be...

To interpret pharmacokinetic (PK) data of biotherapeutics, it is critical to understand which drug species is being measured by the PK assay. For therapeutic antibodies, it is generally accepted that "free" circulating antibodies are the pharmacologically active form needed to determine the PK/pharmacodynamic (PD) relationship, safety margin calculations, and dose projections from animals to hu...

This study aimed to investigate a food effect on the bio-availability of modified-release (MR) trimetazidine tablets in 36 healthy volunteers. Trimetazidine, an anti-ischemic drug, protects the myocardial cell from the harmful effects of ischemia. The authors investigated the effect of being under a fasting or fed state at the time of drug intake on the bioavailability of trimetazidine 35-mg MR...

This paper investigates the constant-orientation workspace of five-degree-of-freedom parallel mechanisms generating the three translations and two independent rotations and comprising five identical limbs of the PRUR type. The general mechanism was proposed recently from the type synthesis performed for 5-DOF parallel mechanisms with identical limb structures. In this study, the emphasis is pla...

This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of manipulator combines tripod-like parallel part serial part, represented as two carriages moving in perpendicular directions. provides its end-effector with 3T2R motion pattern, which includes three independent translations rotations. First, study ...