The static balancing of spherical three-degree-of-freedom (DoF) parallel mechanisms and manipulators is addressed in this paper. Static balancing is defined here as the set of conditions on mechanism dimensional and inertial parameters which, when satisfied, ensure that the weight of the links does not produce any torque (or force) at the actuators for any configuration of the mechanism, under ...

This paper presents the results of a systematic study of the singular configurations of 3-DOF planar parallel mechanisms with three identical serial chains. Only prismatic and revolute kinematic pairs are considered. From the point of view of singularity analysis, there are ten different architectures. All of them are examined; the nature of all possible singular configurations are discussed an...

This paper addresses an interval analysis based study that is applied to the design and the comparison of three-degrees-of-freedom (3-DoF) parallel kinematic machines. Two design criteria are used: (i) a regular workspace shape and (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criter...

This chapter focuses on the mobility analysis of spatial parallel manipulators. It first develops an analytical methodology to investigate the instantaneous degree of freedom (DOF) of the end-effector of a parallel manipulator. And then, the instantaneous controllability of the end-effector is discussed from the viewpoint of the possible actuation schemes which will be especially useful for the...

In this paper, we describe a study on compliant-parallel (C-P) mechanism with high precision and wide range of working area using bio-inspired compliant joints. C-P mechanism is a parallel mechanism in which all of joints are composed by wide deformable compliant joints. In the integration of the compliant joint and the parallel mechanism, a deformation of the compliant joint can be guided by m...

This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the ba...