A parallel-mechanism-equivalent model for repeatability analysis of an overconstrained kinematic coupling is proposed. An Kelvin-type with one additional support introduced and used method illustration. Contact forces the under a preload are computed Moore-Penrose inverse, deformations obtained using Hertz theory. The equivalently modeled as 7-SPS parallel mechanism, spherical joints which repr...

A method is presented for autonomous kinematic calibration of the RSI 6-DOF hand controller, a two-loop parallel mechanism comprised of three 6-DOF arms with potentiometers on the first three joints of each arm. This double closed-loop kinematic calibration method is an adaptation of a previously developed single closed-loop method. The kinematic parameters identified are the joint angle offset...

Most research papers about parallel kinematic chain mechanisms investigate symmetric robot manipulators, in which all the limbs connecting the end-effector to the fixed based are composed by the same sequence of links and joints. Contrarily, in some manipulation tasks the velocity and stiffness requirements are anisotropic. In such cases, the asymmetric parallel kinematic chain mechanisms may o...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

Flexure parallel mechanism (FPM) possessing selective actuation (SA) feature can be used as a micropositioner. The design of SA FPMs consists of type synthesis of parallel mechanisms possessing the required number of degree of freedom (DOF), geometric arrangement of the structure to obtain the SA and conversion of the kinematic mechanism into the flexure mechanism. This paper focuses on the SA ...

This work is a synthesis of our experience over parallel kinematic machine control, which aims at changing the standard conceptual approach to this problem. Indeed, since the task space, the state space and the measurement space can coincide in this class of mechanism, we came to redefine the complete modeling, identification and control methodology. Thus, it is shown in this paper that, generi...