This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, features three fixed parallel linear joints which are mounted orthogonally and a mobile platform ...

In this paper, 3-PPR planar parallel manipulators with ∆or U-shape base are compared with respect to their workspace size and kinematic sensitivity to joint clearances. First, the singularities and workspace of a general 3-PPR planar parallel manipulator are analyzed. Then, an error prediction model applicable to both serial and parallel manipulators is developed. As a result, two nonconvex qua...

Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same pres...

The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and dʹAlembert’s pr...

The workspace of a Stewart platform is a complex sixdimensional volume embedded in the Cartesian space defined by six pose parameters. Because of its large dimension and complex shape, this volume is difficult to compute and represent, and comprehension on its structure is being gained by studying its three-dimensional slices. While successful methods have been given to determine the constantor...

This contribution presents the workspace analysis process leading to the development of the concept of a New University of Western Australia Robot NUWAR. NUWAR is a variation of the well-known Del leI robot. It is of particular interest to detennine, for given dimensions of a manipulator, how the size and shape ofthe robot workspace vary with values of two angles defming the orientation of moto...

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...

Striving for greater accuracy and greater performance, some machine manufactures are developing parallel structure for the next generation machine. This necessarties that these machines need to be analyzed for the effects of existing singularities inside or boundary of evaluated workspace of indigenously developed 6-DoF SPS (S: Spherical, P: Prismatic) parallel manipulator here in Bhabha atomic...

Despite major advances in autonomous vehicle technologies, humancontrolled ROVs (remotely-operated vehicles) continue to fill an important role in underwater work. To perform effectively, however, the human operator requires meaningful cues for spatial orientation, good workspace visibility, and tight feedback about manipulator behavior. These needs can be hard to support in actual undersea ope...

The kinematic sensitivity has been recently proposed as a unit-consistent performance index to circumvent several shortcomings of some notorious indices such as dexterity. This paper presents a systematic interval approach for computing an index by which two important kinematic properties, namely feasible workspace and kinematic sensitivity, are blended into each other. The proposed index may b...