Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions. The determination of unstable singular con gurations in parallel robots is challenging in general, and is usually tackled via exhaustive search of ...

In this paper we present the synthesis of novel reactionless spatial three-degrees-of-freedom (3-DoF) and 6-DoF mechanisms without any separate counter-rotation, using four-bar linkages. Based on the conditions of dynamic balancing of a single planar four-bar linkage developed elsewhere, the spatial problem is shown to be equivalent to ensuring that the inertia tensor of reactionless four-bar l...

The mechanisms of parallel structure are the subject many publications due to specific functional properties these objects, such as load capacity and accuracy This paper offers a solution for determination position planar two degrees mechanism control. Two problems solved: problem transition by executive link through special calculated motor forces pass position. There was proposed tested contr...

Parallel mechanisms frequently contain an unstable type of singularity that has no counterpart in serial mechanisms. When the mechanism is at or near this type of singularity, it loses the ability to counteract external forces in certain directions which can lead to arbitrary motion. The determination of unstable singular configurations in parallel mechanisms is not trivial, and is usually atte...

The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval analysis based method. The parallel mechanisms can admit several solutions to the inverses and the direct kinematic models. These singular configurations divide th...

Continuum parallel robots ( CPRs ) comprise several flexible beams connected in to an end-effector. They combine the inherent compliance of continuum with high payload capacity robots. Workspace characterization is a crucial point performance evaluation . In this paper, we propose methodology f...