1. Abstract This paper describes an original and robust method to optimize the design of closed-loop mechanisms, especially parallel manipulators. In other words, these mechanisms include assembling constraints we solved using a Newton-Raphson algorithm which may fail when the Jacobian matrix of the constraints is ill-conditioned. Therefore, the technique we propose takes advantage of that cond...

Planar st-graphs find applications in a number of areas. In this paper we present efficient parallel algorithms for solving several fundamental problems on planar st-graphs. The problems we consider include all-pairs shortest paths in weighted planar st-graphs, single-source shortest paths in weighted planar layered digraphs (which can be reduced to single-source shortest paths in certain speci...

An architecturally singular parallel manipulator is a parallel manipulator with architectural singularities spanning the whole workspace. It should be abandoned in the design process. This paper deals with the generation of architecturally singular 6-SPS parallel manipulators with linearly related planar platforms. The forward displacement analysis of the 6-SPS parallel manipulator with linearl...