The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...

cable driven parallel manipulator (cdpm) is a special class of parallel manipulator in which the rigid extensible links are replaced by actuated cables. it is necessary to take into consideration the cable dynamics, i.e.; its mass, flexibility and curved shape for manipulating a long-span cdpm. these terms complicate governing equation of motion in a way that special tactic are applied for simu...

In this paper, a novel four-degree-of-freedom (4-DOF) hybrid parallel platform manipulator is presented. The movable platform of the parallel manipulator can translate along two directions and rotate around two axes respectively. The kinematics model is formulated, which describes the inverse kinematic transformation and forward kinematic transformation. A 5-axis parallel machine tool based on ...

In this paper, the mathematical model of the posture inverse kinematics is established. According to the structure of 2DOF parallel manipulator, the simulation model of mechanism is built using the Matlab/SimMechanics. The kinematics simulation of the parallel manipulator is obtained and confirmed correct. With the Virtual Reality Toolbox, the virtual reality of the parallel manipulator is carr...

In this paper a performance analysis is presented for a cable-suspended parallel manipulator. Experimental results from some first tests are presented and discussed to validate the theoretical calculation of load carrying capacity. The loadcarrying capacity during a given trajectory is obtained. This computational technique is tested on a typical planar cable suspended manipulator. The experime...

Article history: Received 28 September 2008 Accepted 7 April 2009

This paper concerns the presentation and analysis of a type of three translational degrees of freedom (DoFs) parallel cube-manipulator. The parallel manipulators are the topology architectures of the DELTA robot and Tsai’s manipulator, respectively, which have three translational DoFs. In the design, the three actuators are arranged according to the Cartesian coordinate system, which means that...

Articolul stabileşte relaţii matriceale pentru cinematica şi dinamica robotului paralel Orthoglide prevăzut cu trei acţionori prismatici concurenţi. Aceştia sunt aranjaţi în raport cu sistemul cartezian de coordonate astfel încât direcţiile lor să fie normale unele faţă de celelalte. Trei lanţuri cinematice identice, conectate la platforma mobilă, sunt localizate în trei plane perpendiculare un...

Fully automating the assembly of laser systems puts high demands on the accuracy, but alike on the flexibility and adaptivity of the assembly system. In this paper a concept for a flexible robot-based precision assembly is introduced. This concept is based on a modular 6-axis alignment tool which has been designed as a hybrid serial-parallel manipulator with flexures for all revolute and spheri...