Traditional feedback linearization approach (TFL) requires a priori knowledge of plant, which is difficult and the computational efficiency of controller is low due to the complex dynamics of spatial 6-DOF hydraulic parallel manipulator. In order to improve the tracking performance of spatial 6-DOF hydraulic parallel manipulator and to conquer the drawbacks of TFL, a novel approximate feedback ...

This paper focuses on the vibration control issue of a Flexibly Supported Parallel Manipulator (FSPM), which consists of a flexible support and a rigid parallel manipulator. The distinct characteristic of an FSPM is the dynamic coupling between the rigid and flexible parts, which challenges the vibration control implemented by the rigid parallel manipulator. The re...

A reconfigurable parallel manipulator system consists of an inventory of standard interchangeable actuator modules, passive joint modules, and customizable links and connectors. Due to the interchangeability and modularity, a parallel manipulator constructed in this manner can have different structures and degrees of freedom (DOF). This article presents a two stage design methodology, from stru...

This paper investigates the stiffness modelling of a 3-DOF parallel manipulator with two additional legs. The stiffness model in six directions of the 3-DOF parallel manipulator with two additional legs is derived by performing condensation of DOFs for the joint connection and treatment of the fixed-end connections. Moreover, this modelling method is used to derive the stiffness model of the ma...

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...

In this paper, the impact of changing the location of the tool point, on the moving platform, on the dynamics of a planar parallel manipulator is investigated. Lagrange-d’Alembert formulation is used to develop the dynamic model of the present manipulator. To evaluate the dynamic performance of the parallel manipulator, the input efforts and energy consumptions are calculated for the manipulato...

In this paper piezo actuated micromanipulators are considered with serial-parallel structure including elastic joints. Such structure allows a preliminary tension of the mechanical system in order to eliminate backlashes and to improve the performance of the piezo-actuators. A kinematics model of a serial-parallel structure for local micro manipulators is build here. A pseudo rigid body approac...

Workspace quality analysis and application for a completely restrained 3-Dof planar cable-driven parallel manipulator Xiaoqiang Tang, Lewei Tang, Jinsong Wang and Dengfeng Sun The State Key Laboratory of Tribology, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China School of Aeronautics and Astronautics Engineering, Purdue University, West Lafayette, IN 47907-2045...