Abstract: This paper is aimed in presenting a study on the kinematic modeling of the Tricept based five-axis vertical machine tool. Since the machine comprises 3-DOF parallel structure and 2-DOF serial wrist kinematic modeling also comprises serial and parallel part. As solution of direct and inverse kinematics of 2-DOF serial wrist is well known the study in this paper will focus on the parall...

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. This paper considers an interesting alternative to redundant actuation through the application of additional kinematic constraint via passive joint...

N OT CO PY Design and Analysis of a New 7-DOF Parallel Type Haptic Device : PATHOS-II Keehoon Kim Wan Kyun Chung Dept. of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), Pohang, Korea Tel : +82-54-279-2844, Fax : +82-54-279-5899, E-mail : fkhk,[email protected] Abstract Most tele-operation to manipulate an object consists of gripping and manipulation and two o...

In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for spe...

A haptic interface controlled in impedance mode should present its user with a uniform force capability matching the human hand. This paper reviews a mechanism design methodology that maximizes a workspace-inclusive isotropy index. Force maximization in coreless or voice-coil motors is also considered in order to maximize haptic interface acceleration. Example designs of a planar 3-DOF haptic m...

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 ...

The wrench-closure workspace of parallel cable-driven mechanisms is the set of poses of their mobile platform for which the cables can balance any external wrench. The determination of this workspace is an important issue since the cables can only pull and not push on the mobile platform. This paper deals with the wrench-closure workspace of six-degrees-of-freedom (DOF) parallel mechanisms driv...

Abstract: The dynamic analysis is the basic element of the mechanical design and control of parallel mechanisms. The parallel robots dynamics requires a great deal of computing as regards the formulation of the generally nonlinear equations of motion and their solution. In this paper a solution for solving the dynamical model of a 6-DOF parallel structure destined to helicopter flight simulatio...

A model-based robust control design approach is considered for a novel direct-drive 4-DOF parallel manipulator aimed at high speed and high precision semiconductor packaging applications. An experimental identification method is proposed to determine the dynamic model of the manipulator and a robust feedback controller is designed in the frequency-domain using genetic algorithm. Experimental re...