In this work, the direct position kinematics of a 3 degree-of-freedom parallel manipulator with three identical limbs, type revolute-prismatic-spherical (RPS), is analyzed. In contrast to the previous studies on this class of manipulators, the revolute joints of the proposed manipulator are actuated rather than the prismatic joints. Direct position kinematics of the manipulator leads to a syste...

A robot arm is the combination of links and joints in the form of a chain with one end is fixed while the other end is free. The joints are either prismatic or revolute, driven by actuators. In order to move the free end, also called the end effector, along a certain path, most, if not all, of the joints are to be moved. In doing so it is necessary to solve the inverse kinematics equation. In t...

A new three degrees of freedom (3-DOF) translational parallel manipulator (TPM) with fixed actuators called a 3-PRC TPM is proposed in this paper. The mobility of the manipulator is analyzed via screw theory. The inverse kinematics, forward kinematics, and velocity analysis are performed and the singular and isotropic configurations are identified afterward. Moreover, the mechanism design to el...

The subject of this paper is a special class of closedchain manipulators. First, we analyze a family of twodegree-of-freedom (dof) five-bar planar linkages. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the “inverse kinematics” and the “direct kinematics” matrices. It is shown that the loci of points of the wo...

This article deals with the kinematics of serial manipulators. The serial manipulators are assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters. Two well-known problems in serial manipulator kinematics, namely the direct and inverse problems, are discussed and several examples are presented. The important concept of the workspace of a serial manipulator and the...

Assistive technology for visually impaired (VI) people has recently received tremendous attention in the industry: from a start-up to a multinational corporation. However, these efforts mostly concentrate in self-localization and guidance to specific destinations in a verbal format, but are unaware of other communication channels (i.e.: languages). A desire to help a VI individual communicating...

Manipulator kinematics is concerned with the motion of each link within a manipulator without considering mass or force. In this article, which first in two-part tutorial, we provide an introduction to modelling using elementary transform sequence (ETS). Then formulate first-order differential kinematics, leads Jacobian, basis for velocity control and inverse kinematics. We describe essential c...

This paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedo...

In this paper the kinematics, (position, velocities and accelerations) and the dynamics of a 6-RUS parallel manipulator by using the natural coordinates are analysed. One numerical example of kinematics and inverse dynamics is presented.