The two translational degrees-of-freedom (DOF) and one rotational DOF (2T1R) planar parallel mechanisms (PMs) have the characteristics of simple structures, kinematic dynamic models, ease control allow for a variety application prospects. This paper concentrates on derivations 5-DOF hybrid manipulators based synthesized mechanisms. To understand effect constraint motion rigid body clearly, meth...

In this paper, the static balancing of existing spatial and planar parallel manipulators by the addition of balancing elements is addressed. Static balancing is defined here as the set of conditions on manipulator dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any force (or torque) at the actuators for any configuration of the man...

Type synthesis of 1-DOF remote center of motion (RCM) mechanisms is the preliminary for research on many multiDOF RCM mechanisms. Since types of existing RCM mechanisms are few, it is necessary to find an efficient way to create more new RCM mechanisms. In this paper, existing 1-DOF RCM mechanisms are first classified, then base on a proposed concept of the planar virtual center (VC) mechanism,...

A reactionless machine will not apply reaction forces and moments on the mounting base during motion. This article presents the theory for design of a reactionless planar parallel mechanism. The salient features of this design are: (i) it uses auxiliary parallelograms to locate the center of mass of each leg at the base, (ii) choice of geometric and inertial parameters to satisfy the reactionle...

The kinematic sensitivity is a unit-consistent measure that has been recently proposed as a mechanism performance index to compare robot architectures. This paper presents a robust geometric approach for computing this index for the case of planar parallel mechanisms. The physical meaning of the kinematic sensitivity is investigated through different combinations of the Euclidean and infinity n...

A parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it acts as a unique role in the design of parallel mechanisms. In this paper, the unique role of a parallelogram is used completely to design some new parallel mechanisms with two to six degrees of freedom (DoFs). In these mechanisms, some with three DoFs possess the advantage of ver...