introduction we aimed to introduce a 6-universal-prismatic-spherical (ups) parallel mechanism for the human jaw motion and theoretically evaluate its kinematic problem. we proposed a strategy to provide a fast and accurate solution to the kinematic problem. the proposed strategy could accelerate the process of solution-finding for the direct kinematic problem by reducing the number of required ...

This paper presents the motion planning for the redundant parallel kinematic mechanism using joint torque distribution that satisfies a path of the end-effector. The redundant parallel kinematic mechanism more numbers of actuator than numbers of degrees-of-freedom, and it has the advantage of bigger workspace than non-redundant parallel kinematic mechanism by eliminating singularities. The redu...

This paper presents the kinematic design of a translational parallel mechanism (PM) named Vari-Orthoglide by means workspace superposition, according to sub-kinematic chain (SKC) based PM composition principle. The main topological characteristics manipulator with two SKCs under study, such as position and orientation (POC) characteristics, degree freedom (DOF) coupling are analyzed, which turn...

Calibration of a parallel mechanism using a specified artifact, artifact calibration, is an effective method. However, there are strong correlations between each parameter in an artifact calibration of a parallel mechanism. Therefore, it is difficult to identify all kinematic parameters included in a kinematic model of the parallel mechanism from measuring data. In this research, we propose two...