The significant advantages of parallel robots over serial manipulators are now well known. However, they still pose a serious challenge when considering their kinematics. This paper covers the state-of-the-art on modeling issues and certified solving of kinematics problems. Parallel manipulator architectures can be divided into two categories: planar and spatial. Firstly, the typical planar par...

The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28 th -order univariate algebraic equation,...

This paper presents the comparison between serial and parallel manipulators. Day by day, the applications of the parallel manipulator in various field is become apparent and with a rapid rate utilized in precise manufacturing, medical science and in space exploration equipments. A parallel manipulator can be defined as a closed loop kinematic chain mechanism whose end effector is linked to the ...

Abstract The inverse kinematics problem (IKP) is at the center of computer control algorithms for general serial manipulator. exact number feasible solutions IKP highly dependent on manipulator structure as well desired end-effector pose, and existing methods have difficulties to solve all a In this work, multiple approach applied IKP. Then, three numerical examples are used validate effectiven...

This article presents the velocity and singularity analysis for a five-degree-of-freedom (5-DOF) parallel-serial manipulator. The hybrid structure of manipulator combines tripod-like parallel part serial part, represented as two carriages moving in perpendicular directions. provides its end-effector with 3T2R motion pattern, which includes three independent translations rotations. First, study ...

The ability to perform different tasks by a serial manipulator mounted on legged robots, increases the capabilities of the robot. The position/force control problem of such a robot in the stance phase with point contacts on the ground is investigated here. A target plane with known stiffness is specified in the workspace. Active joints of the legs and serial manipulator are used to exert the de...

In this paper the design of a new DOF RPRS parallel manipulator has been proposed Di erent from the conventional Stewart Gough platform manipulator which has six extensible legs the RPRS parallel manipula tor employs three identical RPRS legs to support the mov ing platform Consequently it possesses a compromised per formance e g workspace accuracy and sti ness between a serial robot and a six ...

This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth [1]) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage (Figures 2 & 3). The resulting architecture is hybrid i...